ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-03 09:17:37 +02:00
parent e8cfd10427
commit 5c5029be0c
1 changed files with 4 additions and 2 deletions
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6
config/nav2_params.yaml
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@ -191,7 +191,8 @@ local_costmap:
width: 3 width: 3
height: 3 height: 3
resolution: 0.05 resolution: 0.05
robot_radius: 0.22 #robot_radius: 0.22
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
plugins: ["voxel_layer", "inflation_layer"] plugins: ["voxel_layer", "inflation_layer"]
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"
@ -230,7 +231,8 @@ global_costmap:
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_link
use_sim_time: True use_sim_time: True
robot_radius: 0.22 #robot_radius: 0.22
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
resolution: 0.05 resolution: 0.05
track_unknown_space: true track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"] plugins: ["static_layer", "obstacle_layer", "inflation_layer"]