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costmap_common_params

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Jul 17th, 2011
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  1. map_type: costmap
  2. transform_tolerance: 0.3
  3. obstacle_range: 2.5
  4. raytrace_range: 3.0
  5. inflation_radius: 1.5 //has to fine tune the parameter
  6.  
  7. observation_sources: laser_scan_sensor
  8.  
  9. laser_scan_sensor: {sensor_frame: laser,
  10. data_type: LaserScan,
  11. topic: /scan,
  12. expected_update_rate: 0.2,
  13. observation_persistence: 0.0,
  14. marking: true,
  15. clearing: false,
  16. min_obstacle_height: 0.06,
  17. max_obstacle_height: 2.5}
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