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@@ -17,8 +17,7 @@
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# 20180410:init this file.
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# 20200413:更新参数并更新注释信息.
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#
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-obstacle_range: 1.0
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-raytrace_range: 1.5
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+
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#单独圆形机器人的参数
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#robot_radius: 0.13
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@@ -28,11 +27,21 @@ footprint: [[ 0.22, 0.00],[ 0.22, 0.04],[ 0.10, 0.04],
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[ 0.09, 0.09],[ 0.00, 0.13],[-0.09, 0.09],
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[-0.13, 0.00],[-0.09, -0.09],[ 0.00, -0.13],
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[ 0.09, -0.09],[ 0.10, -0.04],[ 0.22, -0.04]]
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+map_type: costmap
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+
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+obstacle_layer:
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+ enabled: true
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+ obstacle_range: 1.0
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+ raytrace_range: 1.5
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+ inflation_radius: 0.05
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+ observation_sources: scan
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+ scan: {sensor_frame: lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}
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+
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+
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+inflation_layer:
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+ enabled: true
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+ cost_scaling_factor: 10
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+ inflation_radius: 0.10
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-inflation_radius: 0.15
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-cost_scaling_factor: 10
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-map_type: costmap
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-observation_sources: scan
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-scan: {sensor_frame: lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}
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