19 lines
715 B
YAML
Executable File
19 lines
715 B
YAML
Executable File
local_costmap:
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global_frame: $(arg prefix)odom
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update_frequency: 5.0
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publish_frequency: 5.0
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rolling_window: true
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raytrace_range: 2.0
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resolution: 0.05
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z_resolution: 0.15
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z_voxels: 8
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inflation:
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cost_scaling_factor: 5.0 # 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.
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inflation_radius: 0.8 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
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width: 10.0
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height: 10.0
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origin_x: 0.0
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origin_y: 0.0
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# plugins are loaded via costmap_local_params_plugins_[mapping|planning].yaml
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