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2021summerOfCode/Summer_2021_Student_Program.html

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 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/assisted_teleop.html

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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_plugins.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/dynamic.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/grid_maps.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/localization.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/multithreading.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/navigation_rebranding.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/safety_node.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/semantics.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/spinners.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/testing.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/twist_n_config.html

@@ -941,6 +941,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

_sources/migration/Iron.rst.txt

@@ -165,3 +165,12 @@ Global Frame Removed from 2 BT Nodes
 ************************************
 
 The Global Frame was removed from ``RemovePassedGoals`` and ``GoalReached`` BT nodes and instead using the ``frame_id`` of the goal's headers for transformation.
+
+Introduction of ``CostmapUpdate.msg``
+*************************************
+
+`PR #3965 <https://github.com/ros-planning/navigation2/pull/3965>`_ introduces a new type of message - ``CostmapUpdate.msg``. It is the update message related to the ``Costmap.msg``. Now instead of sending the whole costmap in every message, such as with ``Costmap.msg``, the ``CostmapUpdate.msg`` includes only the area of the costmap that has changed since the previous update message. The ``Costmap.msg`` is sent only once at the beginning, followed by the messages of the ``CostmapUpdate.msg`` type. The idea is to mimic the ``OccupancyGrid.msg`` and ``OccupancyGridUpdate.msg`` behavior.
+
+To activate this feature, the Costmap2D ROS parameter ``always_send_full_costmap`` has to be set to ``false``. 
+
+To subscribe to ``Costmap.msg`` and ``CostmapUpdate.msg`` it is recommended to use the ``CostmapSubscriber`` class.

about/index.html

@@ -943,6 +943,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

about/related_projects.html

@@ -943,6 +943,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

about/robots.html

@@ -942,6 +942,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>

about/ros1_comparison.html

@@ -943,6 +943,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 </ul>
 </li>
 </ul>