ellensohn/cps_rmp220_support
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update robot radius

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This commit is contained in:
Björn Ellensohn 2023-08-16 10:09:36 +02:00
parent 9c7381d6e7
commit a574c53d65
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -191,7 +191,7 @@ local_costmap:
width: 3 width: 3
height: 3 height: 3
resolution: 0.05 resolution: 0.05
robot_radius: 0.22 robot_radius: 0.50
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 +230,7 @@ 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: 0.50
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"]