173 lines
4.1 KiB
YAML
Executable File
173 lines
4.1 KiB
YAML
Executable File
position_planner_name: PNKXLocalPlanner
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docking_planner_name: PNKXDockingLocalPlanner
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go_straight_planner_name: PNKXGoStraightLocalPlanner
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rotate_planner_name: PNKXRotateLocalPlanner
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base_local_planner: LocalPlannerAdapter
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base_global_planner: CustomPlanner
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robot_base_frame: base_footprint
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transform_tolerance: 1.0
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obstacle_range: 3.0
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#mark_threshold: 1
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publish_voxel_map: true
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footprint_padding: 0.0
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navigation_map:
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map_topic: /map
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map_pkg: managerments
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map_file: maze
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virtual_walls_map:
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map_topic: /virtual_walls/map
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namespace: /virtual_walls
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map_pkg: managerments
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map_file: maze
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use_maximum: true
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lethal_cost_threshold: 100
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obstacles:
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observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
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f_scan_marking:
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topic: /f_scan
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data_type: LaserScan
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clearing: false
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marking: true
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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f_scan_clearing:
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topic: /f_scan
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data_type: LaserScan
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clearing: true
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marking: false
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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b_scan_marking:
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topic: /b_scan
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data_type: LaserScan
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clearing: false
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marking: true
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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b_scan_clearing:
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topic: /b_scan
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data_type: LaserScan
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clearing: true
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marking: false
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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global_costmap:
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robot_base_frame: base_footprint
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transform_tolerance: 1.0
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obstacle_range: 3.0
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#mark_threshold: 1
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publish_voxel_map: true
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footprint_padding: 0.0
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navigation_map:
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map_topic: /map
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map_pkg: managerments
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map_file: maze
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virtual_walls_map:
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map_topic: /virtual_walls/map
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namespace: /virtual_walls
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map_pkg: managerments
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map_file: maze
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use_maximum: true
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lethal_cost_threshold: 100
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obstacles:
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observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
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f_scan_marking:
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topic: /f_scan
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data_type: LaserScan
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clearing: false
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marking: true
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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f_scan_clearing:
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topic: /f_scan
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data_type: LaserScan
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clearing: true
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marking: false
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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b_scan_marking:
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topic: /b_scan
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data_type: LaserScan
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clearing: false
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marking: true
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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b_scan_clearing:
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topic: /b_scan
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data_type: LaserScan
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clearing: true
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marking: false
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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local_costmap:
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robot_base_frame: base_footprint
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transform_tolerance: 1.0
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obstacle_range: 3.0
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#mark_threshold: 1
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publish_voxel_map: true
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footprint_padding: 0.0
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navigation_map:
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map_topic: /map
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map_pkg: managerments
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map_file: maze
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virtual_walls_map:
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map_topic: /virtual_walls/map
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namespace: /virtual_walls
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map_pkg: managerments
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map_file: maze
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use_maximum: true
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lethal_cost_threshold: 100
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obstacles:
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observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
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f_scan_marking:
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topic: /f_scan
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data_type: LaserScan
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clearing: false
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marking: true
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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f_scan_clearing:
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topic: /f_scan
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data_type: LaserScan
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clearing: true
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marking: false
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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b_scan_marking:
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topic: /b_scan
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data_type: LaserScan
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clearing: false
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marking: true
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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b_scan_clearing:
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topic: /b_scan
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data_type: LaserScan
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clearing: true
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marking: false
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inf_is_valid: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25 |