From 92067d1c199dce92c955429675022641be67687f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 2 Oct 2023 10:09:10 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 76 ++++++++++++++++++++--------------------- 1 file changed, 38 insertions(+), 38 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index de0ca21..1992b3b 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -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