tune costmap parameters (#15)

* tune costmap parameters:
- increase local costmap size
- use transient local, so that map can be fetched directly after restart
- do not send the full costmap, to reduce bandwith consumption

* Change publish and update frequencies

* Update forklift_params.yaml

Co-authored-by: rdeniza <61455514+rdeniza@users.noreply.github.com>

nav2_bringup/bringup/params/forklift_params.yaml

@@ -72,23 +72,23 @@ local_costmap:
   local_costmap:
     ros__parameters:
       global_frame: odom
-      update_frequency: 2.0
-      publish_frequency: 2.0
+      update_frequency: 5.0
+      publish_frequency: 1.0
       robot_base_frame: base_link
       map_topic: /costmap_node/map
       plugins: ["static_layer", "obstacle_layer"]
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: False
+        map_subscribe_transient_local: True
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: false
       rolling_window: True
-      width: 7
-      height: 7
+      width: 15
+      height: 15
       resolution: 0.1
       footprint: "[[1.8, 0.4], [1.8, -0.4], [-0.2, -0.4], [-0.2, 0.4]]"
-      always_send_full_costmap: True
+      always_send_full_costmap: False
   local_costmap_client:
     ros__parameters:
       use_sim_time: True
@@ -222,12 +222,12 @@ global_costmap:
         observation_sources: scan
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: False
+        map_subscribe_transient_local: True
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 10.0
         inflation_radius: 0.55
-      always_send_full_costmap: True
+      always_send_full_costmap: False
   global_costmap_client:
     ros__parameters:
       use_sim_time: True