add some files

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
@@ -26,17 +27,33 @@ 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
+  observation_sources:  l_scan_marking l_scan_clearing r_scan_marking r_scan_clearing b_scan_marking b_scan_clearing
+  l_scan_marking:
+    topic: /l_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
+  l_scan_clearing:
+    topic: /l_scan
+    data_type: LaserScan
+    clearing: true
+    marking: false
+    inf_is_valid: true
+    min_obstacle_height: 0.0
+    max_obstacle_height: 0.25
+  r_scan_marking:
+    topic: /r_scan
+    data_type: LaserScan
+    clearing: false
+    marking: true
+    inf_is_valid: true
+    min_obstacle_height: 0.0
+    max_obstacle_height: 0.25
+  r_scan_clearing:
+    topic: /r_scan
     data_type: LaserScan
     clearing: true
     marking: false
@@ -59,5 +76,6 @@ obstacles:
     inf_is_valid: true
     min_obstacle_height: 0.0
     max_obstacle_height: 0.25
+