Add recovery and mission manager structure

config/costmap_common_params.yaml

@@ -11,7 +11,7 @@ navigation_map:
   map_file: maze
 
 virtual_walls_map:
-  map_topic: /virtual_walls/map
+  map_topic: /map
   namespace: /virtual_walls
   map_pkg: managerments
   map_file: maze
@@ -19,23 +19,23 @@ virtual_walls_map:
   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: true
-    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: true
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25
+  observation_sources: b_scan_marking b_scan_clearing pc_marking pc_clearing
+  # f_scan_marking: f_scan_marking f_scan_clearing
+  #   topic: /f_scan
+  #   data_type: LaserScan
+  #   clearing: false
+  #   marking: true
+  #   inf_is_valid: true
+  #   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: true
+  #   min_obstacle_height: 0.0
+  #   max_obstacle_height: 0.25
   b_scan_marking:
     topic: /b_scan
     data_type: LaserScan
@@ -53,4 +53,28 @@ obstacles:
     min_obstacle_height: 0.0
     max_obstacle_height: 0.25
 
+  pc_marking:
+    topic: /camera/depth/points_proc
+    data_type: PointCloud2
+    clearing: false
+    marking: true
+    inf_is_valid: false
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.0
+    min_obstacle_height: 0.1
+    max_obstacle_height: 1.0
 
+  pc_clearing:
+    topic: /camera/depth/points_clear
+    data_type: PointCloud2
+    clearing: true
+    marking: false
+    inf_is_valid: false
+    observation_persistence: 0.0
+    expected_update_rate: 0.5
+    obstacle_range: 2.5
+    raytrace_range: 3.0
+    min_obstacle_height: -0.5
+    max_obstacle_height: 5.0