27 lines
659 B
YAML
27 lines
659 B
YAML
footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, -0.20]]
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transform_tolerance: 0.5
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map_type: costmap
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#Obstacle marking parameters
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obstacle_layer:
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enabled: true
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obstacle_range: 2.5
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raytrace_range: 3.5
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inflation_radius: 0.5
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track_unknown_space: false
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combination_method: 1
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subscribe_to_updates: true
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observation_sources: laser_scan_sensor
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laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
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#Cost function parameters
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inflation_layer:
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enabled: true
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cost_scaling_factor: 5.0
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inflation_radius: 0.5
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static_layer:
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enabled: true
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map_topic: "map"
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