ellensohn/cps_rmp220_support
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update footprint in global costmap

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Björn Ellensohn 2023-08-21 10:03:22 +02:00
parent 5267a521d5
commit c3dc9fefbb
1 changed files with 4 additions and 3 deletions
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7
config/nav2_params.yaml
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@ -211,7 +211,7 @@ local_costmap:
enabled: True enabled: True
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 10.0 # was 3.0 cost_scaling_factor: 15.0 # was 3.0
inflation_radius: 0.22 inflation_radius: 0.22
voxel_layer: voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer" plugin: "nav2_costmap_2d::VoxelLayer"
@ -246,7 +246,8 @@ 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: 0.50 #robot_radius: 0.50
footprint: "[ [0.21, 0.255], [0.21, -0.255], [-0.52, -0.255], [-0.52, 0.255] ]"
resolution: 0.05 resolution: 0.05
track_unknown_space: true track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"] plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"]
@ -272,7 +273,7 @@ global_costmap:
map_subscribe_transient_local: True map_subscribe_transient_local: True
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 10.0 # was 3.0 cost_scaling_factor: 15.0 # was 3.0
inflation_radius: 0.22 inflation_radius: 0.22
always_send_full_costmap: True always_send_full_costmap: True