HiepLM/AMR_T800
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

git commit -m "first commit for v2"

Browse Source
This commit is contained in:
HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
Controllers/Packages/amr_startup/config/costmap_local_params.yaml Executable file
View File

@@ -0,0 +1,16 @@
local_costmap:
global_frame: odom
update_frequency: 5.0
publish_frequency: 5.0
rolling_window: true
raytrace_range: 2.0
resolution: 0.05
z_resolution: 0.15
z_voxels: 8
inflation:
cost_scaling_factor: 10.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
inflation_radius: 0.3 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
width: 8.0
height: 8.0
origin_x: 0.0
origin_y: 0.0