update

Controllers/Packages/amr_startup/config/costmap_common_params.yaml

@@ -1,54 +0,0 @@
-robot_base_frame: base_footprint
-transform_tolerance: 1.0
-obstacle_range: 3.0
-#mark_threshold: 1
-publish_voxel_map: true
-footprint_padding: 0.0
-
-navigation_map:
-  map_topic: /map
-  map_pkg: managerments
-  map_file: maze
-
-virtual_walls_map:
-  map_topic: /virtual_walls/map
-  namespace: /virtual_walls
-  map_pkg: managerments
-  map_file: maze
-  use_maximum: true
-  lethal_cost_threshold: 100
-
-obstacles:
-  observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
-  f_scan_marking:
-    topic: /f_scan
-    data_type: LaserScan
-    clearing: false
-    marking: true
-    inf_is_valid: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25
-  f_scan_clearing:
-    topic: /f_scan
-    data_type: LaserScan
-    clearing: true
-    marking: false
-    inf_is_valid: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25
-  b_scan_marking:
-    topic: /b_scan
-    data_type: LaserScan
-    clearing: false
-    marking: true
-    inf_is_valid: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25
-  b_scan_clearing:
-    topic: /b_scan
-    data_type: LaserScan
-    clearing: true
-    marking: false
-    inf_is_valid: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25