ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-10-03 08:48:03 +02:00
parent 92067d1c19
commit bd79d51b16
1 changed files with 37 additions and 12 deletions
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49
config/nav2_params.yaml
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@ -509,26 +509,51 @@ local_costmap:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 8.0 # was 3.0 cost_scaling_factor: 8.0 # was 3.0
inflation_radius: 0.44 inflation_radius: 0.44
# voxel_layer:
# plugin: "nav2_costmap_2d::VoxelLayer"
# enabled: True
# publish_voxel_map: True
# origin_z: 0.0
# z_resolution: 0.05
# z_voxels: 16
# max_obstacle_height: 2.0
# mark_threshold: 0
# 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
voxel_layer: voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer" plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True enabled: True
publish_voxel_map: True footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: false
origin_z: 0.0 origin_z: 0.0
z_resolution: 0.05 z_resolution: 0.1
z_voxels: 16 z_voxels: 16
max_obstacle_height: 2.0 max_obstacle_height: 2.0
mark_threshold: 0 unknown_threshold: 4
observation_sources: scan mark_threshold: 2
scan: observation_sources: oak-d
topic: /scan combination_method: 1
max_obstacle_height: 2.0 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 clearing: True
marking: True marking: True
data_type: "LaserScan" data_type: "PointCloud2"
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: static_layer:
plugin: "nav2_costmap_2d::StaticLayer" plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True map_subscribe_transient_local: True