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bjoernellens1 2023-11-24 09:51:23 +01:00 committed by GitHub
parent 4bdc89d92b
commit 8e8153a2f8
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1 changed files with 5 additions and 5 deletions
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config/nav2_params.yaml
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@ -13,8 +13,8 @@ slam_toolbox:
odom_frame: odom odom_frame: odom
map_frame: map map_frame: map
base_frame: base_footprint base_frame: base_footprint
scan_topic: scan #scan_topic: scan
#scan_topic: /scan_filtered scan_topic: scan_filtered
use_map_saver: true use_map_saver: true
mode: mapping #localization mode: mapping #localization
@ -113,7 +113,7 @@ amcl:
z_max: 0.05 z_max: 0.05
z_rand: 0.5 z_rand: 0.5
z_short: 0.05 z_short: 0.05
scan_topic: scan scan_topic: scan_filtered
bt_navigator: bt_navigator:
ros__parameters: ros__parameters:
@ -332,7 +332,7 @@ local_costmap:
mark_threshold: 0 mark_threshold: 0
observation_sources: scan observation_sources: scan
scan: scan:
topic: scan topic: scan_filtered
max_obstacle_height: 2.0 max_obstacle_height: 2.0
clearing: True clearing: True
marking: True marking: True
@ -364,7 +364,7 @@ global_costmap:
enabled: True enabled: True
observation_sources: scan observation_sources: scan
scan: scan:
topic: scan topic: scan_filtered
max_obstacle_height: 2.0 max_obstacle_height: 2.0
clearing: True clearing: True
marking: True marking: True