42 lines
1.1 KiB
YAML
42 lines
1.1 KiB
YAML
obstacle_layer:
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enabled: true
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track_unknown_space: false
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transform_tolerance: 1.0
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footprint_clearing_enabled: true
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combination_method: 1
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# Subset of costmap_common_params.yaml for the topics available in this
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# local depth-camera test.
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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: 8
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frustum_min_range: 0.20
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frustum_max_range: 3.5
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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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