30 lines
780 B
YAML
Executable File
30 lines
780 B
YAML
Executable File
global_frame: map
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robot_base_frame: base_link
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update_frequency: 5.0
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publish_frequency: 0.0
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static_map: true
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rolling_window: false
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#START VOXEL STUFF
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map_type: voxel
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origin_z: 0.0
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z_resolution: 0.2
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z_voxels: 10
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unknown_threshold: 10
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mark_threshold: 0
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#END VOXEL STUFF
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transform_tolerance: 0.3
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obstacle_range: 2.5
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max_obstacle_height: 2.0
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raytrace_range: 3.0
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footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
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#robot_radius: 0.46
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footprint_padding: 0.01
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inflation_radius: 0.55
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cost_scaling_factor: 10.0
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lethal_cost_threshold: 100
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observation_sources: base_scan
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base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
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observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
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