33 lines
833 B
YAML
33 lines
833 B
YAML
local_costmap:
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# Absolute NUC path is intentional for this local test package. It avoids
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# boost::dll resolving a relative value such as "libplugins" to ./libplugins.
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library_path: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
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global_frame: odom
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robot_base_frame: base_link
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update_frequency: 6.0
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publish_frequency: 6.0
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rolling_window: true
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track_unknown_space: false
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raytrace_range: 3.0
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resolution: 0.05
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z_resolution: 0.15
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z_voxels: 8
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width: 8.0
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height: 8.0
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origin_x: 0.0
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origin_y: 0.0
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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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footprint_padding: 0.0
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robot_radius: 0.0
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footprint:
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- [0.30, 0.30]
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- [0.30, -0.30]
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- [-0.30, -0.30]
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- [-0.30, 0.30]
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inflation:
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cost_scaling_factor: 10.0
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inflation_radius: 0.3
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