vikram_nav/costmap_common_params.yaml at master · Anarchy-ts/vikram_nav · GitHub

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# obstacle_range: 2.5
# raytrace_range: 3.0
# #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
# robot_radius: 0.6
# inflation_radius: 0.55

# #observation_sources: laser_scan_sensor point_cloud_sensor
# observation_sources:  point_cloud_sensor
# #laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}

# point_cloud_sensor: {sensor_frame: "zed_camera", data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}

  plugins:
    - {name: static_layer,       type: "costmap_2d::StaticLayer"}
    - {name: obstacles,        type: "costmap_2d::ObstacleLayer"}
    - {name: inflation,        type: "costmap_2d::InflationLayer"}

  publish_frequency: 1.0


  obstacles:
    track_unknown_space: false
    footprint_clearing_enabled: true
    combination_method: 1
    observation_sources: point_cloud_sensor

    point_cloud_sensor:
      sensor_frame: "zed_camera"
      data_type: PointCloud2
      topic: /camera/depth/points
      observation_persistance: 0.0
      expected_update_rate: 0.0
      max_obstacle_height: 10.0
      min_obstacle_height: 2.0
      obstacle_range: 2.5
      raytrace_range: 3.0
      inf_is_valid: false
      marking: true
      clearing: true

  inflation:
    inflation_radius: 0.5
    cost_scaling_factor: 10.0

  static_layer:
    map_topic: "/map"
    first_map_only: false