created

config/costmap_common_params.yaml

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+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