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shankerkeshavdas

ROS-Answers/Navigation/NavCon2

Feb 1st, 2012
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  1. map_type: voxel
  2. origin_z: 0.0
  3. z_resolution: 0.2
  4. z_voxels: 10
  5. unknown_threshold: 9
  6. mark_threshold: 0
  7.  
  8. transform_tolerance: 0.6
  9. obstacle_range: 2.5
  10. raytrace_range: 3.0
  11. footprint: [[0.19, 0.25], [-0.30 , 0.25], [-0.30 ,-0.25], [0.19, -0.25]]
  12. #robot_radius: ir_of_robot
  13. cost_scaling_factor: 10.0
  14. #unknown as obstacle, when 0, as free.
  15. unknown_cost_value: 255
  16.  
  17. observation_sources: laser_scan_sensor
  18.  
  19. laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, expected_update_rate: 0.0,
  20. observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
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