HiepLM/pnkx_nav_core
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HiepLM
2025-12-16 16:18:35 +07:00
parent a06beb70b8
commit 89f435633c
47 changed files with 600 additions and 881 deletions
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config/costmap_local_params.yaml Executable file
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local_costmap:
global_frame: odom
update_frequency: 6.0
publish_frequency: 6.0
rolling_window: true
raytrace_range: 2.0
resolution: 0.05
z_resolution: 0.15
z_voxels: 8
inflation:
cost_scaling_factor: 10.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
inflation_radius: 0.3 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
width: 8.0
height: 8.0
origin_x: 0.0
origin_y: 0.0