amcl:
  ros__parameters:
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    wait_for_service_timeout: 1000
    action_server_result_timeout: 900.0
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.

    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
    # Built-in plugins are added automatically
    # plugin_lib_names: []

    error_code_names:
      - compute_path_error_code
      - follow_path_error_code

controller_server:
  ros__parameters:
    controller_frequency: 20.0
    costmap_update_timeout: 0.30
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]
    use_realtime_priority: false

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    FollowPath:
      plugin: "nav2_mppi_controller::MPPIController"
      time_steps: 56
      model_dt: 0.05
      batch_size: 2000
      ax_max: 3.0
      ax_min: -3.0
      ay_max: 3.0
      ay_min: -3.0
      az_max: 3.5
      vx_std: 0.2
      vy_std: 0.2
      wz_std: 0.4
      vx_max: 0.5
      vx_min: -0.35
      vy_max: 0.5
      wz_max: 1.9
      iteration_count: 1
      prune_distance: 1.7
      transform_tolerance: 0.1
      temperature: 0.3
      gamma: 0.015
      motion_model: "DiffDrive"
      visualize: true
      regenerate_noises: true
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
        min_turning_r: 0.2
      critics: [
        "ConstraintCritic", "CostCritic", "GoalCritic",
        "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
        "PathAngleCritic", "PreferForwardCritic"]
      ConstraintCritic:
        enabled: true
        cost_power: 1
        cost_weight: 4.0
      GoalCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.81
        near_collision_cost: 253
        critical_cost: 300.0
        consider_footprint: false
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 14.0
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 4
        threshold_to_consider: 0.5
        offset_from_furthest: 20
        use_path_orientations: false
      PathFollowCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        offset_from_furthest: 5
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 2.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
        mode: 0
      # TwirlingCritic:
      #   enabled: true
      #   twirling_cost_power: 1
      #   twirling_cost_weight: 10.0

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.70
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      robot_radius: 0.22
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.7
################################################################################
### START OF CHANGES
      always_send_full_costmap: False
      rolling_window: True
      resolution: 1.0
      width: 1000
      height: 1000
### END OF CHANGES
################################################################################

# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
#   ros__parameters:
#     yaml_filename: ""

map_saver:
  ros__parameters:
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    planner_plugins: ["GridBased"]
    costmap_update_timeout: 1.0
    GridBased:
      plugin: "nav2_navfn_planner::NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors::Spin"
    backup:
      plugin: "nav2_behaviors::BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors::DriveOnHeading"
    wait:
      plugin: "nav2_behaviors::Wait"
    assisted_teleop:
      plugin: "nav2_behaviors::AssistedTeleop"
    local_frame: odom
    global_frame: map
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    loop_rate: 20
    stop_on_failure: false
    action_server_result_timeout: 900.0
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

route_server:
  ros__parameters:
    # The graph_filepath does not need to be specified since it going to be set by defaults in launch.
    # If you'd rather set it in the yaml, remove the default "graph" value in the launch file(s).
    # file & provide full path to map below. If graph config or launch default is provided, it is used
    # graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson
    boundary_radius_to_achieve_node: 1.0
    radius_to_achieve_node: 2.0
    smooth_corners: true
    operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]
    ReroutingService:
      plugin: "nav2_route::ReroutingService"
    AdjustSpeedLimit:
      plugin: "nav2_route::AdjustSpeedLimit"
    CollisionMonitor:
      plugin: "nav2_route::CollisionMonitor"
      max_collision_dist: 3.0
    edge_cost_functions: ["DistanceScorer", "CostmapScorer"]
    DistanceScorer:
      plugin: "nav2_route::DistanceScorer"
    CostmapScorer:
      plugin: "nav2_route::CostmapScorer"

velocity_smoother:
  ros__parameters:
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.5, 0.0, 2.0]
    min_velocity: [-0.5, 0.0, -2.0]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: "odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

collision_monitor:
  ros__parameters:
    base_frame_id: "base_footprint"
    odom_frame_id: "odom"
    cmd_vel_in_topic: "cmd_vel_smoothed"
    cmd_vel_out_topic: "cmd_vel"
    state_topic: "collision_monitor_state"
    transform_tolerance: 0.2
    source_timeout: 1.0
    base_shift_correction: True
    stop_pub_timeout: 2.0
    # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
    # and robot footprint for "approach" action type.
    polygons: ["FootprintApproach"]
    FootprintApproach:
      type: "polygon"
      action_type: "approach"
      footprint_topic: "/local_costmap/published_footprint"
      time_before_collision: 1.2
      simulation_time_step: 0.1
      min_points: 6
      visualize: False
      enabled: True
    observation_sources: ["scan"]
    scan:
      type: "scan"
      topic: "scan"
      min_height: 0.15
      max_height: 2.0
      enabled: True

docking_server:
  ros__parameters:
    controller_frequency: 50.0
    initial_perception_timeout: 5.0
    wait_charge_timeout: 5.0
    dock_approach_timeout: 30.0
    undock_linear_tolerance: 0.05
    undock_angular_tolerance: 0.1
    max_retries: 3
    base_frame: "base_link"
    fixed_frame: "odom"
    dock_backwards: false
    dock_prestaging_tolerance: 0.5

    # Types of docks
    dock_plugins: ['simple_charging_dock']
    simple_charging_dock:
      plugin: 'opennav_docking::SimpleChargingDock'
      docking_threshold: 0.05
      staging_x_offset: -0.7
      use_external_detection_pose: true
      use_battery_status: false # true
      use_stall_detection: false # true

      external_detection_timeout: 1.0
      external_detection_translation_x: -0.18
      external_detection_translation_y: 0.0
      external_detection_rotation_roll: -1.57
      external_detection_rotation_pitch: -1.57
      external_detection_rotation_yaw: 0.0
      filter_coef: 0.1

    # Dock instances
    # The following example illustrates configuring dock instances.
    # docks: ['home_dock']  # Input your docks here
    # home_dock:
    #   type: 'simple_charging_dock'
    #   frame: map
    #   pose: [0.0, 0.0, 0.0]

    controller:
      k_phi: 3.0
      k_delta: 2.0
      v_linear_min: 0.15
      v_linear_max: 0.15
      use_collision_detection: true
      costmap_topic: "local_costmap/costmap_raw"
      footprint_topic: "local_costmap/published_footprint"
      transform_tolerance: 0.1
      projection_time: 5.0
      simulation_step: 0.1
      dock_collision_threshold: 0.3

loopback_simulator:
  ros__parameters:
    base_frame_id: "base_footprint"
    odom_frame_id: "odom"
    map_frame_id: "map"
    scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
    update_duration: 0.02
    scan_range_min: 0.05
    scan_range_max: 30.0
    scan_angle_min: -3.1415
    scan_angle_max: 3.1415
    scan_angle_increment: 0.02617
    scan_use_inf: true

ros2 launch nav2_bringup tb3_simulation_launch.py

ros2 topic echo /global_costmap/static_layer_raw_updates

Thread 12 "component_conta" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 3678773.3685316]
0x00007fffeaf6cb94 in nav2_costmap_2d::Costmap2D::getCost (this=0x7fff88211500, mx=384, my=384) at /workspace/STcore/external/src/navigation2/nav2_costmap_2d/src/costmap_2d.cpp:266
266       return costmap_[getIndex(mx, my)];

(gdb) bt
#0  0x00007fffd35f7b94 in nav2_costmap_2d::Costmap2D::getCost (this=0x7fff88212d50, mx=384, my=384) at /workspace/STcore/external/src/navigation2/nav2_costmap_2d/src/costmap_2d.cpp:266
#1  0x00007fffd370005e in nav2_costmap_2d::Costmap2DPublisher::createCostmapUpdateMsg (this=0x7fff88343fc0) at /workspace/STcore/external/src/navigation2/nav2_costmap_2d/src/costmap_2d_publisher.cpp:227
#2  0x00007fffd3700476 in nav2_costmap_2d::Costmap2DPublisher::publishCostmap (this=0x7fff88343fc0) at /workspace/STcore/external/src/navigation2/nav2_costmap_2d/src/costmap_2d_publisher.cpp:258
#3  0x00007fffd360f63a in nav2_costmap_2d::Costmap2DROS::mapUpdateLoop (this=0x555555a18e30, frequency=1) at /workspace/STcore/external/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:554
#4  0x00007fffd36fca7d in std::__invoke_impl<void, void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&> (
    __f=@0x7fff880015c8: (void (nav2_costmap_2d::Costmap2DROS::*)(nav2_costmap_2d::Costmap2DROS * const, double)) 0x7fffd360eac4 <nav2_costmap_2d::Costmap2DROS::mapUpdateLoop(double)>,
    __t=@0x7fff880015e0: 0x555555a18e30) at /usr/include/c++/13/bits/invoke.h:74
#5  0x00007fffd36fbe5f in std::__invoke<void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&> (
    __fn=@0x7fff880015c8: (void (nav2_costmap_2d::Costmap2DROS::*)(nav2_costmap_2d::Costmap2DROS * const, double)) 0x7fffd360eac4 <nav2_costmap_2d::Costmap2DROS::mapUpdateLoop(double)>)
    at /usr/include/c++/13/bits/invoke.h:96
#6  0x00007fffd36fafd4 in std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)>::__call<void, , 0ul, 1ul>(std::tuple<>&&, std::_Index_tuple<0ul, 1ul>) (
    this=0x7fff880015c8, __args=...) at /usr/include/c++/13/functional:506
#7  0x00007fffd36f951b in std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)>::operator()<, void>() (this=0x7fff880015c8) at /usr/include/c++/13/functional:591
#8  0x00007fffd36f647b in std::__invoke_impl<void, std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)>>(std::__invoke_other, std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)>&&) (__f=...) at /usr/include/c++/13/bits/invoke.h:61
#9  0x00007fffd36f1be3 in std::__invoke<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)>>(std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)>&&) (__fn=...) at /usr/include/c++/13/bits/invoke.h:96
#10 0x00007fffd36e7fac in std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)> > >::_M_invoke<0ul>(std::_Index_tuple<0ul>) (
    this=0x7fff880015c8) at /usr/include/c++/13/bits/std_thread.h:292
#11 0x00007fffd36e2ddc in std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)> > >::operator()() (this=0x7fff880015c8)
    at /usr/include/c++/13/bits/std_thread.h:299
#12 0x00007fffd36dbe02 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, double))(double)> > > >::_M_run() (
    this=0x7fff880015c0) at /usr/include/c++/13/bits/std_thread.h:244
#13 0x00007ffff7b53db4 in std::execute_native_thread_routine (__p=0x7fff880015c0) at ../../../../../src/libstdc++-v3/src/c++11/thread.cc:104
#14 0x00007ffff78c3aa4 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:447
#15 0x00007ffff7950c6c in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:78

(gdb) p *this
$1 = {
  _vptr.Costmap2D = 0x7fff327c3cc8 <vtable for nav2_costmap_2d::StaticLayer+128>,
  access_ = 0x7fff88216450,
  size_x_ = 384,
  size_y_ = 384,
  resolution_ = 0.05000000074505806,
  origin_x_ = -10,
  origin_y_ = -10,
  costmap_ = 0x7ffefc029f30 '\377' <repeats 200 times>...,
  default_value_ = 0 '\000'
}

(gdb) p *this
$9 = {
  clock_ = {
    <std::__shared_ptr<rclcpp::Clock, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp::Clock, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
      members of std::__shared_ptr<rclcpp::Clock, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x555555a267b0,
      _M_refcount = {
        _M_pi = 0x555555a267a0
      }
    }, <No data fields>},
  logger_ = {
    name_ = {
      <std::__shared_ptr<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, (__gnu_cxx::_Lock_policy)2>> = {
        <std::__shared_ptr_access<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
        members of std::__shared_ptr<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, (__gnu_cxx::_Lock_policy)2>:
        _M_ptr = 0x555555a12c50,
        _M_refcount = {
          _M_pi = 0x555555a270d0
        }
      }, <No data fields>},
    logger_sublogger_pairname_ = {
      <std::__shared_ptr<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, (__gnu_cxx::_Lock_policy)2>> = {
        <std::__shared_ptr_access<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
        members of std::__shared_ptr<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, (__gnu_cxx::_Lock_policy)2>:
        _M_ptr = 0x0,
        _M_refcount = {
          _M_pi = 0x0
        }
      }, <No data fields>}
  },
  costmap_ = 0x7fff88211500,
  global_frame_ = {
    _M_dataplus = {
      <std::allocator<char>> = {
        <std::__new_allocator<char>> = {<No data fields>}, <No data fields>},
      members of std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_Alloc_hider:
      _M_p = 0x7fff883246f8 "map"
    },
    _M_string_length = 3,
    {
      _M_local_buf = "map\000\000\000\253\004\001\020\231\251\f5M\353",
      _M_allocated_capacity = 336362597176598893
    }
  },
  topic_name_ = {
    _M_dataplus = {
      <std::allocator<char>> = {
        <std::__new_allocator<char>> = {<No data fields>}, <No data fields>},
      members of std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_Alloc_hider:
      _M_p = 0x7fff88324718 "static_layer"
    },
    _M_string_length = 12,
    {
      _M_local_buf = "static_layer\0005M\353",
      _M_allocated_capacity = 7809069583458989171
    }
  },
  x0_ = 384,
  xn_ = 510,
  y0_ = 384,
  yn_ = 509,
  saved_origin_x_ = -10,
  saved_origin_y_ = -10,
  active_ = false,
  always_send_full_costmap_ = false,
  map_vis_z_ = 0,
  costmap_pub_ = {
    <std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
      members of std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff883551e0,
      _M_refcount = {
        _M_pi = 0x7fff883551d0
      }
    }, <No data fields>},
  costmap_update_pub_ = {
    <std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
      members of std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff8835a9f0,
      _M_refcount = {
        _M_pi = 0x7fff8835a9e0
      }
    }, <No data fields>},
  costmap_update_pub_ = {
    <std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fie
lds>},
      members of std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff8835a9f0,
      _M_refcount = {
        _M_pi = 0x7fff8835a9e0
      }
    }, <No data fields>},
  costmap_raw_pub_ = {
    <std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
      members of std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff8835ca00,
      _M_refcount = {
        _M_pi = 0x7fff8835c9f0
      }
    }, <No data fields>},
  costmap_raw_pub_ = {
    <std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
      members of std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff8835ca00,
      _M_refcount = {
        _M_pi = 0x7fff8835c9f0
      }
    }, <No data fields>},
  costmap_raw_update_pub_ = {
    <std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::CostmapUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::CostmapUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>}
,
      members of std::__shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::CostmapUpdate_<std::allocator<void> >, std::allocator<void> >, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff88359250,
      _M_refcount = {
        _M_pi = 0x7fff88359240
      }
    }, <No data fields>},
  costmap_service_ = {
    <std::__shared_ptr<rclcpp::Service<nav2_msgs::srv::GetCostmap>, (__gnu_cxx::_Lock_policy)2>> = {
      <std::__shared_ptr_access<rclcpp::Service<nav2_msgs::srv::GetCostmap>, (__gnu_cxx::_Lock_policy)2, false, false>> = {<No data fields>},
      members of std::__shared_ptr<rclcpp::Service<nav2_msgs::srv::GetCostmap>, (__gnu_cxx::_Lock_policy)2>:
      _M_ptr = 0x7fff88209a40,
      _M_refcount = {
        _M_pi = 0x7fff88209a30
      }
    }, <No data fields>},
  grid_resolution_ = 0.0500000007,
  grid_width_ = 384,
  grid_height_ = 384,
  grid_ = {
    _M_t = {
      <std::__uniq_ptr_impl<nav_msgs::msg::OccupancyGrid_<std::allocator<void> >, std::default_delete<nav_msgs::msg::OccupancyGrid_<std::allocator<void> > > >> = {
        _M_t = {
          <std::_Tuple_impl<0, nav_msgs::msg::OccupancyGrid_<std::allocator<void> >*, std::default_delete<nav_msgs::msg::OccupancyGrid_<std::allocator<void> > > >> = {
            <std::_Tuple_impl<1, std::default_delete<nav_msgs::msg::OccupancyGrid_<std::allocator<void> > > >> = {
              <std::_Head_base<1, std::default_delete<nav_msgs::msg::OccupancyGrid_<std::allocator<void> > >, true>> = {
                _M_head_impl = {<No data fields>}
              }, <No data fields>},
            <std::_Head_base<0, nav_msgs::msg::OccupancyGrid_<std::allocator<void> >*, false>> = {
              _M_head_impl = 0x0
            }, <No data fields>}, <No data fields>}
      }, <No data fields>}
  },
  costmap_raw_ = {
    _M_t = {
      <std::__uniq_ptr_impl<nav2_msgs::msg::Costmap_<std::allocator<void> >, std::default_delete<nav2_msgs::msg::Costmap_<std::allocator<void> > > >> = {
        _M_t = {
          <std::_Tuple_impl<0, nav2_msgs::msg::Costmap_<std::allocator<void> >*, std::default_delete<nav2_msgs::msg::Costmap_<std::allocator<void> > > >> = {
            <std::_Tuple_impl<1, std::default_delete<nav2_msgs::msg::Costmap_<std::allocator<void> > > >> = {
              <std::_Head_base<1, std::default_delete<nav2_msgs::msg::Costmap_<std::allocator<void> > >, true>> = {
                _M_head_impl = {<No data fields>}
              }, <No data fields>},
            <std::_Head_base<0, nav2_msgs::msg::Costmap_<std::allocator<void> >*, false>> = {
              _M_head_impl = 0x0
            }, <No data fields>}, <No data fields>}
      }, <No data fields>}
  }
}