优化costmap_common配置文件中参数,将obstacle_layer中参数obstacle_range,raytrace_range

src/robot_navigation/config/costmap_common_params.yaml

@@ -30,11 +30,14 @@ map_type: costmap
 #障碍物图层
 obstacle_layer:
  enabled: true
- obstacle_range: 1.0
- raytrace_range: 1.5
- inflation_radius: 0.05
+ obstacle_range: 1.3
+ raytrace_range: 1.4
  observation_sources: scan
- scan: {sensor_frame: lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+ scan: {sensor_frame: lidar,
+        data_type: LaserScan,
+        topic: scan,
+        marking: true,
+        clearing: true}
 
 #膨胀图层
 inflation_layer:

src/robot_navigation/config/global_costmap_params.yaml

@@ -4,11 +4,11 @@
 #   update_frequency: 指定地图更新频率，数值太大造成CPU负担重
 #   publish_frequency: 对于静态全局地图来说，不需不断发布
 #   static_map: 全局地图通常是静态的，因此设置为true
-#   rolling_window: 全局地图不会在机器人移动时候更新
-#   transform_tolerance: 指定在tf树中frame直接的转换最大延时，单位秒
+#   rolling_window:全局地图不会在机器人移动时候更新
+#   transform_tolerance:指定在tf树中frame直接的转换最大延时，单位秒
 # Author: corvin
 # History:
-#   20180410: init this file.
+#   20180410:init this file.
 #   20200927:增加plugins参数,配置静态层和膨胀层.
 
 global_costmap:
@@ -21,7 +21,7 @@ global_costmap:
    static_map: true
    rolling_window: false
    resolution: 0.05
-   transform_tolerance: 10.0
+   transform_tolerance: 5.0
 
    plugins:
    - {name: static_layer,     type: "costmap_2d::StaticLayer"}

src/robot_navigation/config/local_costmap_params.yaml

@@ -18,15 +18,15 @@ local_costmap:
     global_frame: odom_combined
     robot_base_frame: base_footprint
 
-    update_frequency: 3.0
-    publish_frequency: 3.0
+    update_frequency: 4.0
+    publish_frequency: 4.0
 
     static_map: false
     rolling_window: true
     width: 1.5
     height: 1.5
     resolution: 0.05   #should same as map.yaml file
-    transform_tolerance: 5.0
+    transform_tolerance: 3.0
 
     plugins:
     - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}