update

config/costmap_common_params.yaml

@@ -1,4 +1,5 @@
-position_planner_name: PNKXLocalPlanner
+# position_planner_name: PNKXLocalPlanner
+position_planner_name: HybridLocalPlanner
 docking_planner_name: PNKXDockingLocalPlanner
 go_straight_planner_name: PNKXGoStraightLocalPlanner
 rotate_planner_name: PNKXRotateLocalPlanner
@@ -26,23 +27,23 @@ 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: 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
+  observation_sources:  b_scan_marking b_scan_clearing #f_scan_marking f_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