git commit -m "first commit"

mir_robot/mir_navigation/config/costmap_common_params.yaml

@@ -0,0 +1,65 @@
+robot_base_frame: $(arg prefix)base_footprint
+transform_tolerance: 0.2
+obstacle_range: 3.0
+#mark_threshold: 1
+publish_voxel_map: true
+footprint_padding: 0.0
+navigation_map:
+  map_topic: /map
+virtual_walls_map:
+  map_topic: /virtual_walls/map
+  use_maximum: true
+  lethal_cost_threshold: 100
+preferred_zones_map:
+  map_topic: /preferred_zones/map
+  lethal_cost_threshold: 100
+  use_maximum: true
+unpreferred_zones_map:
+  map_topic: /unpreferred_zones/map
+  lethal_cost_threshold: 100
+  use_maximum: true
+critical_zones_map:
+  map_topic: /critical_zones/map
+  lethal_cost_threshold: 100
+  use_maximum: true
+  # subscribe_to_updates: true
+direction_zones_map:
+  map_topic: /direction_zones/map 
+  base_frame_id: $(arg prefix)base_footprint
+  lethal_cost_threshold: 100
+  use_maximum: true
+  # subscribe_to_updates: true
+obstacles:
+  observation_sources: b_scan_marking b_scan_clearing f_scan_marking f_scan_clearing
+  b_scan_marking:
+    topic: b_scan_rep117
+    data_type: LaserScan
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    min_obstacle_height: 0.13
+    max_obstacle_height: 0.25
+  b_scan_clearing:
+    topic: b_scan_rep117
+    data_type: LaserScan
+    clearing: true
+    marking: false
+    inf_is_valid: false
+    min_obstacle_height: 0.13
+    max_obstacle_height: 0.25
+  f_scan_marking:
+    topic: f_scan_rep117
+    data_type: LaserScan
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    min_obstacle_height: 0.13
+    max_obstacle_height: 0.25
+  f_scan_clearing:
+    topic: f_scan_rep117
+    data_type: LaserScan
+    clearing: true
+    marking: false
+    inf_is_valid: false
+    min_obstacle_height: 0.13
+    max_obstacle_height: 0.25