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

update ros

Browse Source
This commit is contained in:
HiepLM
2026-01-07 09:28:55 +07:00
parent 7cea6bb120
commit ec6d5746e3
58 changed files with 22752 additions and 3773 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
Controllers/Packages/amr_startup/config/costmap_global_params.yaml Executable file
View File

@@ -0,0 +1,13 @@
global_costmap:
global_frame: map
update_frequency: 1.0
publish_frequency: 1.0
raytrace_range: 2.0
resolution: 0.05
z_resolution: 0.2
rolling_window: false
z_voxels: 10
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: 0.6 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.