position_planner_name: PNKXLocalPlanner
docking_planner_name: PNKXDockingLocalPlanner
go_straight_planner_name: PNKXGoStraightLocalPlanner
rotate_planner_name: PNKXRotateLocalPlanner
base_local_planner: LocalPlannerAdapter
base_global_planner: CustomPlanner

robot_base_frame: base_footprint
transform_tolerance: 1.0
obstacle_range: 3.0
#mark_threshold: 1
publish_voxel_map: true
footprint_padding: 0.0

navigation_map:
  map_topic: /map
  map_pkg: managerments
  map_file: maze

virtual_walls_map:
  map_topic: /virtual_walls/map
  namespace: /virtual_walls
  map_pkg: managerments
  map_file: maze
  use_maximum: true
  lethal_cost_threshold: 100

obstacles:
  observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
  f_scan_marking:
    topic: /f_scan
    data_type: LaserScan
    clearing: false
    marking: true
    inf_is_valid: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25
  f_scan_clearing:
    topic: /f_scan
    data_type: LaserScan
    clearing: true
    marking: false
    inf_is_valid: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25
  b_scan_marking:
    topic: /b_scan
    data_type: LaserScan
    clearing: false
    marking: true
    inf_is_valid: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25
  b_scan_clearing:
    topic: /b_scan
    data_type: LaserScan
    clearing: true
    marking: false
    inf_is_valid: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25


global_costmap:
  robot_base_frame: base_footprint
  transform_tolerance: 1.0
  obstacle_range: 3.0
  #mark_threshold: 1
  publish_voxel_map: true
  footprint_padding: 0.0

  navigation_map:
    map_topic: /map
    map_pkg: managerments
    map_file: maze

  virtual_walls_map:
    map_topic: /virtual_walls/map
    namespace: /virtual_walls
    map_pkg: managerments
    map_file: maze
    use_maximum: true
    lethal_cost_threshold: 100

  obstacles:
    observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
    f_scan_marking:
      topic: /f_scan
      data_type: LaserScan
      clearing: false
      marking: true
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
    f_scan_clearing:
      topic: /f_scan
      data_type: LaserScan
      clearing: true
      marking: false
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
    b_scan_marking:
      topic: /b_scan
      data_type: LaserScan
      clearing: false
      marking: true
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
    b_scan_clearing:
      topic: /b_scan
      data_type: LaserScan
      clearing: true
      marking: false
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
local_costmap:
  robot_base_frame: base_footprint
  transform_tolerance: 1.0
  obstacle_range: 3.0
  #mark_threshold: 1
  publish_voxel_map: true
  footprint_padding: 0.0

  navigation_map:
    map_topic: /map
    map_pkg: managerments
    map_file: maze

  virtual_walls_map:
    map_topic: /virtual_walls/map
    namespace: /virtual_walls
    map_pkg: managerments
    map_file: maze
    use_maximum: true
    lethal_cost_threshold: 100

  obstacles:
    observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
    f_scan_marking:
      topic: /f_scan
      data_type: LaserScan
      clearing: false
      marking: true
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
    f_scan_clearing:
      topic: /f_scan
      data_type: LaserScan
      clearing: true
      marking: false
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
    b_scan_marking:
      topic: /b_scan
      data_type: LaserScan
      clearing: false
      marking: true
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25
    b_scan_clearing:
      topic: /b_scan
      data_type: LaserScan
      clearing: true
      marking: false
      inf_is_valid: false
      min_obstacle_height: 0.0
      max_obstacle_height: 0.25