48 lines
1.2 KiB
YAML
48 lines
1.2 KiB
YAML
robot_base_frame: base_link
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transform_tolerance: 1.0
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performance_metrics_enabled: true
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performance_metrics_period: 5.0
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obstacle_range: 3.0
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publish_voxel_map: true
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footprint_padding: 0.0
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obstacles:
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observation_sources: pc_marking pc_clearing
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pc_marking:
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topic: /camera/depth/points_proc
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data_type: PointCloud2
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clearing: false
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marking: true
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inf_is_valid: false
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frustum_clearing_enabled: false
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observation_persistence: 0.0
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expected_update_rate: 0.5
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obstacle_range: 2.5
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raytrace_range: 3.0
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min_obstacle_height: 0.1
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max_obstacle_height: 1.0
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pc_clearing:
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topic: /camera/depth/data
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data_type: DepthCameraData
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clearing: false
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marking: true
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inf_is_valid: false
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frustum_clearing_enabled: true
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frustum_clearing_pixel_step: 2
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frustum_min_range: 0.20
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frustum_max_range: 3.5
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frustum_skip_distance: 0.05
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frustum_column_clearing: true
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column_clear_min_height: 0.10
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column_clear_max_height: -1.0
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column_skip_distance: 0.02
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column_cover_distance: 0.2
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observation_persistence: 0.0
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expected_update_rate: 0.5
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obstacle_range: 2.5
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raytrace_range: 3.5
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min_obstacle_height: 0.1
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max_obstacle_height: 1.0
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