ellensohn/bot_mini_bringup
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update nav params

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This commit is contained in:
Björn Ellensohn 2023-06-20 10:41:50 +02:00
parent 5625fc45d2
commit c0e3a50ede
1 changed files with 3 additions and 2 deletions
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config/nav2_params.yaml
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@ -185,12 +185,13 @@ local_costmap:
publish_frequency: 2.0 publish_frequency: 2.0
global_frame: odom global_frame: odom
robot_base_frame: base_link robot_base_frame: base_link
use_sim_time: True use_sim_time: True #change?
rolling_window: true rolling_window: true
width: 3 width: 3
height: 3 height: 3
resolution: 0.05 resolution: 0.05
robot_radius: 0.22 #robot_radius: 0.22 changed to footprint for more precise apprximation of the robot
footprint: "[ [0.06, 0.16], [0.06, -0.16], [-0.31, -0.16], [-0.31, 0.16] ]" # rectangle with [[Front Right], [Front Left], [Rear Left], [Rear Right]]
plugins: ["voxel_layer", "inflation_layer"] plugins: ["voxel_layer", "inflation_layer"]
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"