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@@ -2,17 +2,20 @@
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# global_frame:指定本地代价地图参考系,使用融合后frame:odom_combined;
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# robot_base_frame:指定机器人的base_frame:base_footprint;
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# update_frequency:指定local代价地图更新频率
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-# publish_frequency: 代价地图发布可视化信息的频率
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-# static_map: 本地代价地图不会更新地图，设置false
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-# rolling_window: 设置滚动窗口,使机器人始终在窗体中心位置
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+# publish_frequency:代价地图发布可视化信息的频率
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+# static_map:本地代价地图不是静态地图,所以需要设置false
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+# rolling_window:设置滚动窗口,使机器人始终在窗体中心位置
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# width: 局部代价地图宽度,滑动地图x维长度
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# height:局部代价地图长度,滑动地图y维长度
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# resolution: 代价地图的分辨率,该参数需要与yaml文件设置的地图分辨率匹配
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#Author: corvin
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#History:
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-# 20180410: init this file.
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+# 20180410:init this file.
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# 20200413:更新本地代价地图配置参数.
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# 20200927:添加plugins参数,配置障碍物层和膨胀层.
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+# 20220927:更新width和height为1.8,解决"The origin for the sensor
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+# at (0.05, 2.73) is out of map bounds. So, the costmap cannot
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+# raytrace for it."
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local_costmap:
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global_frame: odom_combined
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@@ -23,11 +26,11 @@ local_costmap:
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static_map: false
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rolling_window: true
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- width: 1.5
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- height: 1.5
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+ width: 1.8
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+ height: 1.8
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resolution: 0.05 #should same as map.yaml file
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- transform_tolerance: 3.0
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+ transform_tolerance: 2.0
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plugins:
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- - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
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- - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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+ - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
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+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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corvin rasp melodic