ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-03 08:57:23 +02:00
parent d8d8018620
commit 1b91079a18
1 changed files with 11 additions and 1 deletions
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12
config/nav2_params.yaml
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@ -541,7 +541,7 @@ local_costmap:
max_obstacle_height: 2.0 max_obstacle_height: 2.0
unknown_threshold: 4 unknown_threshold: 4
mark_threshold: 2 mark_threshold: 2
observation_sources: oak-d observation_sources: oak-d rplidar
combination_method: 1 combination_method: 1
oak-d: # no frame set, uses frame from message oak-d: # no frame set, uses frame from message
topic: /stereo/points topic: /stereo/points
@ -554,6 +554,16 @@ local_costmap:
clearing: True clearing: True
marking: True marking: True
data_type: "PointCloud2" data_type: "PointCloud2"
rplidar:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 8.0 # was 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer: static_layer:
plugin: "nav2_costmap_2d::StaticLayer" plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True map_subscribe_transient_local: True