更新local_costmap中width和height参数从1.5更新为1.8,解决The origin for the sensor

src/robot_navigation/config/local_costmap_params.yaml

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