update

config/config/costmap_params.yaml

@@ -0,0 +1,36 @@
+robot_costmap_2d:
+  global_frame: map
+  robot_base_frame: base_link
+  rolling_window: false
+  track_unknown_space: false
+
+  plugins:
+    - name: static_layer
+      type: StaticLayer
+
+    - name: inflation_layer
+      type: InflationLayer
+
+    - name: obstacle_layer
+      type: ObstacleLayer
+
+    - name: voxel_layer
+      type: VoxelLayer
+
+  library_path: ./libplugins.so
+  footprint:
+    - [0.3, 0.3]
+    - [0.3, -0.3]
+    - [-0.3, -0.3]
+    - [-0.3, 0.3]
+
+  transform_tolerance: 0.0
+  update_frequency: 1.0
+  width: 0.0
+  height: 0.0
+  resolution: 0.0
+  origin_x: 0.0
+  origin_y: 0.0
+
+  footprint_padding: 0.0
+  robot_radius: 0.0

config/config/inflation_layer_params.yaml

@@ -0,0 +1,5 @@
+inflation_layer:
+  enabled: true
+  inflate_unknown: false
+  cost_scaling_factor: 15.0
+  inflation_radius: 0.55

config/config/obstacle_layer_params.yaml

@@ -0,0 +1,18 @@
+obstacle_layer:
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  topic: "map"
+  sensor_frame: laser_frame
+  observation_persistence: 0.0
+  expected_update_rate: 0.0
+  data_type: PointCloud
+  min_obstacle_height: 0.0
+  max_obstacle_height: 2.0
+  inf_is_valid: false
+  clearing: false
+  marking: true
+  obstacle_range: 2.5
+  raytrace_range: 3.0
+  footprint_clearing_enabled: true
+  combination_method: 1
+

config/config/static_layer_params.yaml

@@ -0,0 +1,11 @@
+static_layer:
+  enabled: true
+  map_topic: "map"
+  first_map_only: false
+  subscribe_to_updates: false
+  track_unknown_space: true
+  use_maximum: false
+  lethal_cost_threshold: 100
+  unknown_cost_value: -1
+  trinary_costmap: true
+  base_frame_id: "map"

config/config/voxel_layer_params.yaml

@@ -0,0 +1,11 @@
+voxel_layer:
+  enabled: true
+  footprint_clearing_enabled: true
+  max_obstacle_height: 3.0
+  origin_z: 0.0
+  z_resolution: 0.2
+  z_voxels: 16
+  unknown_threshold: 15.0
+  mark_threshold: 0
+  combination_method: 1
+