RTRoboticsTools.in
📡 RoboNews
Yeah Hand: open-source 15-DOF robotic hand with ROS 2 driver
→

Nav2 Parameter Helper

Upload your map (.yaml + .pgm/.png) or an existing param file, set your robot's footprint, and tune AMCL & costmap parameters — the inflation layer's effect updates live on the map as you adjust it. You can also draw walls or block off areas on the map to keep the robot out, then download the edited map for map_server.

How to use the Nav2 Parameter Helper

  1. 1Upload your map (the .pgm image and its .yaml), or try the sample map.
  2. 2Set your robot’s footprint: a circle with a radius, or a rectangle.
  3. 3Tap “Edit map” to draw walls, block keep-out areas, or erase ghost obstacles left by SLAM.
  4. 4Pick “Move robot” and click the map to place the robot.
  5. 5Tap “Can it get there? Set goal” and click a destination. The path check shows whether the robot fits along the way.
  6. 6Too big for a doorway? The check tells you why. Try a smaller footprint or less inflation.
  7. 7Tick “Show AMCL particles” to turn on the particle filter: the robot drives the planned path while AMCL tracks it with its particles and laser scan.
  8. 8Change the AMCL parameters, such as the odometry noise alpha1–alpha5, and watch the particles spread or tighten.
  9. 9Tune the costmap (inflation radius, cost scaling) and watch the inflation update on the map.
  10. 10Copy or download your nav2_params.yaml, and download the edited map for map_server.

Map

Drop your map's .yaml and image (.pgm/.png) here, or browse

Already have an AMCL / nav2_params.yaml? Upload it to prefill the parameters below.

Robot footprint

Radius r (m)

This sets Nav2's robot_radius (circular) or footprint (rectangular, centered on the robot's origin) costmap parameter, and the derived inscribed radius used by the inflation layer's cost formula — for a rectangle that's half the shorter side.

AMCL parameters

pf_err
pf_z
recovery_alpha_slow
recovery_alpha_fast
alpha1
alpha2
alpha3
alpha4
alpha5
update_min_d (m)
update_min_a (rad)
transform_tolerance (s)
save_pose_rate (Hz)

Costmap parameters

Inflation layer
inflation_radius (m)
cost_scaling_factor

Drag inflation_radius or cost_scaling_factor and watch the halo around obstacles on the map update live.

Export

Generates an amcl / local_costmap / global_costmap block in the same shape as nav2_params.yaml — paste it into your own file, or merge with the rest of your Nav2 stack config (planner, controller, behavior server, etc., which this tool doesn't generate).

Draw walls or keep-out areas

Pick a goal to check whether the robot (green circle) can drive there with this footprint and inflation.

Sample map (upload your own on the left) — click the map to move the footprint test point

Base map

free occupied unknown (unexplored) robot footprint (test point)

Inflation cost (overlaid on the map)

0 — no effect on planning253 — inscribed254 — lethal

Cost rises the closer a cell is to an obstacle. Lethal (254, solid red) means the robot's reference point being here guarantees a collision. Inscribed (253, red-orange) means the robot's own body would touch the obstacle even though its reference point hasn't reached it yet — this band's width is set by the footprint size. Below that, the blue→yellow gradient is cost decaying with distance out to inflation_radius; beyond it, cost is 0 and the layer has no effect.