> For the complete documentation index, see [llms.txt](https://www.learnros2.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://www.learnros2.com/ros/navigation-and-planning/navigation2-implementation-overview/cost-map.md).

# Cost Map

Cost maps are the backbone of the navigation stack. It encodes information in the environments.

There are two key components in the implementation

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