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- map_type: voxel
- origin_z: 0.0
- z_resolution: 0.2
- z_voxels: 10
- unknown_threshold: 9
- mark_threshold: 0
- transform_tolerance: 0.6
- obstacle_range: 2.5
- raytrace_range: 3.0
- footprint: [[0.19, 0.25], [-0.30 , 0.25], [-0.30 ,-0.25], [0.19, -0.25]]
- #robot_radius: ir_of_robot
- cost_scaling_factor: 10.0
- #unknown as obstacle, when 0, as free.
- unknown_cost_value: 255
- observation_sources: laser_scan_sensor
- laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, expected_update_rate: 0.0,
- observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
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