47 lines
971 B
YAML
47 lines
971 B
YAML
static_layer:
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enabled: true
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first_map_only: false
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subscribe_to_updates: false
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track_unknown_space: true
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use_maximum: false
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lethal_cost_threshold: 100
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unknown_cost_value: -1
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trinary_costmap: true
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base_frame_id: "map"
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inflation_layer:
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enabled: true
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inflate_unknown: false
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cost_scaling_factor: 15.0
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inflation_radius: 0.55
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obstacle_layer:
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track_unknown_space: true
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transform_tolerance: 0.2
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topic: "map"
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sensor_frame: laser_frame
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observation_persistence: 0.0
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expected_update_rate: 0.0
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data_type: PointCloud
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min_obstacle_height: 0.0
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max_obstacle_height: 2.0
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inf_is_valid: false
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clearing: false
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marking: true
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obstacle_range: 2.5
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raytrace_range: 3.0
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footprint_clearing_enabled: true
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combination_method: 1
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voxel_layer:
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enabled: true
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footprint_clearing_enabled: true
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max_obstacle_height: 3.0
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origin_z: 0.0
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z_resolution: 0.2
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z_voxels: 16
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unknown_threshold: 15.0
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mark_threshold: 0
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combination_method: 3
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