101 lines
2.5 KiB
YAML
Executable File
101 lines
2.5 KiB
YAML
Executable File
robot_base_frame: base_link
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transform_tolerance: 1.0
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performance_metrics_enabled: true
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performance_metrics_period: 5.0
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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: /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: b_scan pc_marking pc_clearing pc_r_marking pc_r_clearing
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# f_scan_marking: f_scan_marking f_scan_clearing
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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: true
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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: true
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# min_obstacle_height: 0.0
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# max_obstacle_height: 0.25
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b_scan:
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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: true
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inf_is_valid: true
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frustum_clearing_enabled: false
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min_obstacle_height: 0.0
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max_obstacle_height: 0.25
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pc_marking:
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topic: /camera/depth/points_proc
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data_type: PointCloud2
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clearing: false
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marking: true
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inf_is_valid: false
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frustum_clearing_enabled: false
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observation_persistence: 0.0
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expected_update_rate: 0.5
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obstacle_range: 2.5
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raytrace_range: 3.0
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min_obstacle_height: 0.1
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max_obstacle_height: 1.0
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pc_clearing:
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topic: /camera/depth/data
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data_type: DepthCameraData
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clearing: false
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marking: true
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frustum_clearing_enabled: true
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frustum_clearing_pixel_step: 8
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frustum_min_range: 0.20
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frustum_max_range: 3.5
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pc_r_marking:
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topic: /camera_right/depth/points_proc
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data_type: PointCloud2
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clearing: false
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marking: true
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inf_is_valid: false
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frustum_clearing_enabled: false
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observation_persistence: 0.0
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expected_update_rate: 0.5
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obstacle_range: 2.5
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raytrace_range: 3.0
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min_obstacle_height: 0.1
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max_obstacle_height: 1.0
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pc_r_clearing:
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topic: /camera_right/depth/data
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data_type: DepthCameraData
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clearing: false
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marking: true
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frustum_clearing_enabled: true
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frustum_clearing_pixel_step: 8
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frustum_min_range: 0.20
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frustum_max_range: 3.5
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# Depth camera clearing is handled by VoxelLayer frustum clearing from
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# /camera/depth/image_raw + /camera/depth/camera_info. /camera_right/depth/data
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