qt_pi/gazebo_sim/config/costmap_common_params.yaml
2019-04-02 02:36:34 +05:30

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YAML

obstacle_range: 100
raytrace_range: 100
footprint: [[0.2, 0.3], [0.2, -0.3], [-0.2, -0.3], [-0.2, 0.3]]
#robot_radius: ir_of_robot
inflation_radius: 0.5
observation_sources: laser_scan_kinect
laser_scan_kinect: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}