ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-02 09:50:03 +02:00
parent 577e195aa7
commit 7e912cc8be
1 changed files with 15 additions and 15 deletions
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30
config/nav2_params.yaml
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@ -546,7 +546,7 @@ global_costmap:
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
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer", "stvl_layer"]
plugins: ["static_layer", "inflation_layer", "denoise_layer", "stvl_layer"] # remove "obstacle_layer",
stvl_layer:
plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
enabled: true
@ -587,20 +587,20 @@ global_costmap:
denoise_layer:
plugin: "nav2_costmap_2d::DenoiseLayer"
enabled: True
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
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
# obstacle_layer:
# plugin: "nav2_costmap_2d::ObstacleLayer"
# enabled: True
# observation_sources: scan
# scan:
# 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:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True