HiepLM/pnkx_nav_core
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
HiepLM
2026-01-13 14:30:22 +07:00
parent 145fb2088e
commit 57b77ac14b
68 changed files with 4035 additions and 420 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
config/costmap_common_params.yaml
View File

@@ -76,8 +76,8 @@ global_costmap:
lethal_cost_threshold: 100
obstacles:
observation_sources: ffffff_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
ffffff_scan_marking:
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
@@ -131,8 +131,8 @@ local_costmap:
lethal_cost_threshold: 100
obstacles:
observation_sources: ffffff_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
ffffff_scan_marking:
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

7
config/move_base_common_params.yaml
View File

@@ -10,8 +10,8 @@ oscillation_distance: 0.4
### recovery behaviors
recovery_behavior_enabled: true
recovery_behaviors: [
{name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery},
{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery},
{name: aggressive_reset, type: ClearCostmapRecovery},
{name: conservative_reset, type: ClearCostmapRecovery},
]
conservative_reset:
@@ -21,5 +21,8 @@ conservative_reset:
aggressive_reset:
reset_distance: 3.0
ClearCostmapRecovery:
library_path: librobot_clear_costmap_recovery
MoveBase:
library_path: libmove_base