qt_pi/config/costmap_common_params.yaml
2018-08-07 01:44:31 +05:30

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431 B
YAML

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-15, -12], [15, -12], [15, 12], [-15, 12]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
observation_sources: laser_scan_kinect
laser_scan_kinect: {sensor_frame: kinect_frame, data_type: LaserScan, topic: /LaserScan, marking: true, clearing: true}
point_cloud_kinect: {sensor_frame: kinect_frame, data_type: PointCloud, topic: /PointCloud, marking: true, clearing: true}