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