fix

config/costmap_common_params.yaml

@@ -1,5 +1,4 @@
-# position_planner_name: PNKXLocalPlanner
-position_planner_name: HybridLocalPlanner
+position_planner_name: PNKXLocalPlanner
 docking_planner_name: PNKXDockingLocalPlanner
 go_straight_planner_name: PNKXGoStraightLocalPlanner
 rotate_planner_name: PNKXRotateLocalPlanner
@@ -27,29 +26,29 @@ virtual_walls_map:
   lethal_cost_threshold: 100
 
 obstacles:
-  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
+  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
   b_scan_marking:
     topic: /b_scan
     data_type: LaserScan
     clearing: false
     marking: true
-    inf_is_valid: false
+    inf_is_valid: true
     min_obstacle_height: 0.0
     max_obstacle_height: 0.25
   b_scan_clearing:
@@ -57,7 +56,7 @@ obstacles:
     data_type: LaserScan
     clearing: true
     marking: false
-    inf_is_valid: false
+    inf_is_valid: true
     min_obstacle_height: 0.0
     max_obstacle_height: 0.25