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HiepLM
2026-05-28 10:29:58 +07:00
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mir_robot/mir_navigation/config/costmap_global_params.yaml Executable file
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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: 4.0 # 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: 0.8 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
# plugins are loaded via costmap_global_params_plugins_[mapping|planning].yaml