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They are visualized via the color scheme in rviz, but obviously that's not an exact value. You should subscribe to the costmap topic and query it for the location value you're interested in.
The lethal_cost_threshold parameter is only used by the static layer for interpreting the probabilistic values in the map you provide it. https://github.com/ros-planning/navigation2/blob/6d58247e3c3273753a7cfde04ace8b43fab1231e/nav2_costmap_2d/plugins/static_layer.cpp#L260-L275
That should not be impacting your sensor processing or other layers / costmap in general. If you set it higher than that, it thresholds it back down to 100 (https://github.com/ros-planning/navigation2/blob/6d58247e3c3273753a7cfde04ace8b43fab1231e/nav2_costmap_2d/plugins/static_layer.cpp#L162) so I don't think there is actually any difference between setting it to 101 (or 700) vs 100.
| | 2 | No.2 Revision |
They are visualized via the color scheme in rviz, but obviously that's not an exact value. You should subscribe to the costmap topic and query it for the location value you're interested in.
The lethal_cost_threshold parameter is only used by the static layer for interpreting the probabilistic values in the map you provide it. it for the static layer only. https://github.com/ros-planning/navigation2/blob/6d58247e3c3273753a7cfde04ace8b43fab1231e/nav2_costmap_2d/plugins/static_layer.cpp#L260-L275
That should not be impacting your sensor processing or other layers / costmap in general. If you set it higher than that, it thresholds it back down to 100 (https://github.com/ros-planning/navigation2/blob/6d58247e3c3273753a7cfde04ace8b43fab1231e/nav2_costmap_2d/plugins/static_layer.cpp#L162) so I don't think there is actually any difference between setting it to 101 (or 700) vs 100. 100.
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