ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-03 09:19:42 +02:00
parent 5c5029be0c
commit 7978a0fd46
1 changed files with 13 additions and 2 deletions
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15
config/nav2_params.yaml
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@ -207,8 +207,8 @@ local_costmap:
z_voxels: 16 z_voxels: 16
max_obstacle_height: 2.0 max_obstacle_height: 2.0
mark_threshold: 0 mark_threshold: 0
observation_sources: scan observation_sources: rplidar oakd
scan: rplidar:
topic: /scan topic: /scan
max_obstacle_height: 2.0 max_obstacle_height: 2.0
clearing: True clearing: True
@ -218,6 +218,17 @@ local_costmap:
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
oak-d: # no frame set, uses frame from message
topic: /stereo/points
max_obstacle_height: 1.5
min_obstacle_height: 0.02
obstacle_max_range: 3.0
obstacle_min_range: 0.0
raytrace_max_range: 3.2
raytrace_min_range: 0.0
clearing: True
marking: True
data_type: "PointCloud2"
static_layer: static_layer:
plugin: "nav2_costmap_2d::StaticLayer" plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True map_subscribe_transient_local: True