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Jun 19th, 2020
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  1. max_obstacle_height: 1.0 # assume something like an arm is mounted on top of the robot
  2.  
  3. # Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
  4. robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
  5. # footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
  6.  
  7. map_type: voxel
  8.  
  9. obstacle_layer:
  10. enabled: true
  11. max_obstacle_height: 0.6
  12. origin_z: 0.0
  13. z_resolution: 0.2
  14. z_voxels: 2
  15. unknown_threshold: 15
  16. mark_threshold: 0
  17. combination_method: 1
  18. track_unknown_space: true #true needed for disabling global path planning through unknown space
  19. obstacle_range: 2.5
  20. raytrace_range: 3.0
  21. origin_z: 0.0
  22. z_resolution: 0.2
  23. z_voxels: 2
  24. publish_voxel_map: false
  25. observation_sources: scan bump
  26. scan:
  27. data_type: LaserScan
  28. topic: scan
  29. marking: true
  30. clearing: true
  31. min_obstacle_height: 0.25
  32. max_obstacle_height: 2.0
  33. bump:
  34. data_type: PointCloud2
  35. topic: mobile_base/sensors/bumper_pointcloud
  36. marking: true
  37. clearing: false
  38. min_obstacle_height: 0.0
  39. max_obstacle_height: 0.15
  40. # for debugging only, let's you see the entire voxel grid
  41.  
  42. #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
  43. inflation_layer:
  44. enabled: true
  45. cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
  46. inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
  47.  
  48. static_layer:
  49. enabled: true
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