ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-10-02 10:09:10 +02:00
parent 944fb79401
commit 92067d1c19
1 changed files with 38 additions and 38 deletions
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76
config/nav2_params.yaml
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@ -546,44 +546,44 @@ 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", "inflation_layer", "denoise_layer", "stvl_layer"] # remove "obstacle_layer",
stvl_layer:
plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
enabled: true
voxel_decay: 15.
decay_model: 0
voxel_size: 0.05
track_unknown_space: true
unknown_threshold: 15
mark_threshold: 0
update_footprint_enabled: true
combination_method: 1
origin_z: 0.0
publish_voxel_map: true
transform_tolerance: 0.2
mapping_mode: false
map_save_duration: 60.0
observation_sources: pointcloud
pointcloud:
data_type: PointCloud2
topic: /stereo/points
marking: true
clearing: true
obstacle_range: 1.0 # was 3.0
min_obstacle_height: 0.0
max_obstacle_height: 2.0
expected_update_rate: 0.0
observation_persistence: 0.0
inf_is_valid: false
filter: "voxel"
voxel_min_points: 0
clear_after_reading: true
max_z: 7.0
min_z: 0.1
vertical_fov_angle: 0.8745
horizontal_fov_angle: 1.048
decay_acceleration: 15.0
model_type: 0
plugins: ["static_layer", "inflation_layer", "denoise_layer"] # remove "obstacle_layer", , "stvl_layer"
# stvl_layer:
# plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
# enabled: true
# voxel_decay: 15.
# decay_model: 0
# voxel_size: 0.05
# track_unknown_space: true
# unknown_threshold: 15
# mark_threshold: 0
# update_footprint_enabled: true
# combination_method: 1
# origin_z: 0.0
# publish_voxel_map: true
# transform_tolerance: 0.2
# mapping_mode: false
# map_save_duration: 60.0
# observation_sources: pointcloud
# pointcloud:
# data_type: PointCloud2
# topic: /stereo/points
# marking: true
# clearing: true
# obstacle_range: 1.0 # was 3.0
# min_obstacle_height: 0.0
# max_obstacle_height: 2.0
# expected_update_rate: 0.0
# observation_persistence: 0.0
# inf_is_valid: false
# filter: "voxel"
# voxel_min_points: 0
# clear_after_reading: true
# max_z: 7.0
# min_z: 0.1
# vertical_fov_angle: 0.8745
# horizontal_fov_angle: 1.048
# decay_acceleration: 15.0
# model_type: 0
denoise_layer:
plugin: "nav2_costmap_2d::DenoiseLayer"
enabled: True