ellensohn/cps_rmp220_support
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up inflation radius to 0.44

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This commit is contained in:
Björn Ellensohn 2023-08-22 11:42:58 +02:00
parent 85bcce1dd8
commit 03cd5a7b09
1 changed files with 5 additions and 5 deletions
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10
config/nav2_params.yaml
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@ -14,7 +14,7 @@ amcl:
global_frame_id: "map" global_frame_id: "map"
lambda_short: 0.1 lambda_short: 0.1
laser_likelihood_max_dist: 2.0 laser_likelihood_max_dist: 2.0
laser_max_range: 100.0 laser_max_range: -1.0 # was 100 before: setting now to laser reported range (8m)
laser_min_range: -1.0 laser_min_range: -1.0
laser_model_type: "likelihood_field" laser_model_type: "likelihood_field"
max_beams: 60 max_beams: 60
@ -194,8 +194,8 @@ controller_server:
local_costmap: local_costmap:
local_costmap: local_costmap:
ros__parameters: ros__parameters:
update_frequency: 5.0 update_frequency: 10.0 # was 5.0
publish_frequency: 2.0 publish_frequency: 5.0 # was 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
@ -229,7 +229,7 @@ local_costmap:
clearing: True clearing: True
marking: True marking: True
data_type: "LaserScan" data_type: "LaserScan"
raytrace_max_range: 3.0 raytrace_max_range: 8.0 # was 3.0
raytrace_min_range: 0.0 raytrace_min_range: 0.0
obstacle_max_range: 2.5 obstacle_max_range: 2.5
obstacle_min_range: 0.0 obstacle_min_range: 0.0
@ -264,7 +264,7 @@ global_costmap:
clearing: True clearing: True
marking: True marking: True
data_type: "LaserScan" data_type: "LaserScan"
raytrace_max_range: 3.0 raytrace_max_range: 8.0 # was 3.0
raytrace_min_range: 0.0 raytrace_min_range: 0.0
obstacle_max_range: 2.5 obstacle_max_range: 2.5
obstacle_min_range: 0.0 obstacle_min_range: 0.0