Difference between revisions of "Local costmap params.yaml"

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(Created page with "<pre> # http://wiki.ros.org/navigation/Tutorials/RobotSetup section 2.3.1 obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[0.23,0.155], [-0.23,0.155], [-0.23,-0.155], [0.2...")
 
 
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<pre>
 
<pre>
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# http://wiki.ros.org/navigation/Tutorials/RobotSetup section 2.3.1
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# http://wiki.ros.org/navigation/Tutorials/RobotSetup section 2.3.3
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obstacle_range: 2.5
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local_costmap:
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raytrace_range: 3.0
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  global_frame: odom
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footprint: [[0.23,0.155], [-0.23,0.155], [-0.23,-0.155], [0.23,-0.155]]
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  robot_base_frame: base_link
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#robot_radius: ir_of_robot
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  update_frequency: 5.0
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inflation_radius: 0.55
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  publish_frequency: 2.0
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  static_map: false
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observation_sources: scan
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  rolling_window: true
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  width: 6.0
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scan: {sensor_frame: laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
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  height: 6.0
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  resolution: 0.05
 
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Latest revision as of 13:35, 23 June 2016

# http://wiki.ros.org/navigation/Tutorials/RobotSetup section 2.3.3
local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
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