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local_planner: "TebLocalPlannerROS"
parameter_name_linear: "max_vel_x"
parameter_name_angular: "max_vel_theta"min_particles: 50
max_particles: 1000 max_vel_x: 0.40 #0.25
max_vel_x_backwards: 0.4 #0.2
max_vel_theta: 1.0 #0.5
acc_lim_x: 0.5 # 0.2
acc_lim_theta: 0.6283 #0.5, 0.26 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "polygon" #"circular"
radius: 0.38 # for type "circular"
#line_start: [-0.3, 0.0] # for type "line"
#line_end: [0.3, 0.0] # for type "line"
#front_offset: 0.2 # for type "two_circles"
#front_radius: 0.2 # for type "two_circles"
#rear_offset: 0.2 # for type "two_circles"
#rear_radius: 0.2 # for type "two_circles"
vertices: [ [0.26, 0.26], [0.26, -0.26], [-0.26, -0.26], [-0.26,0.26] ] # for type "polygon" xy_goal_tolerance: 0.2 #0.2
yaw_goal_tolerance: 0.1571 min_obstacle_dist: 0.05 inflation_dist: 0.0
dynamic_obstacle_inflation_dist: 0.05
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 0.1
obstacle_poses_affected: 25 #30
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5footprint: [ [0.26, 0.26], [0.26, -0.26], [-0.26, -0.26], [-0.26,0.26] ]
# robot_radius: 0.38 #0.38
# footprint_padding: 0.05
map_type: voxel
#track_unknown_space: true
obstacle_layer:
origin_z: -0.1
z_resolution: 1.8 #1.5 This must be higher than the z coordinate of the mounted lidar
z_voxels: 1
obstacle_range: 10.0 #10.0
raytrace_range: 15.0 #15.0
observation_sources: laser_scan_sensor
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
laser_scan_sensor: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0.00, max_obstacle_height: 3.00}
#point_cloud_sensor: {sensor_frame: lslidar_c16_frame, data_type: PointCloud2, topic: /lslidar_c16/lslidar_point_cloud, marking: true, clearing: true}
lowbstacle_layer:
origin_z: -0.1
z_resolution: 1.8
z_voxels: 1
obstacle_range: 3.5 #if beyond this threshold, then will not mark as obstacle
raytrace_range: 5.0 #5.0 Lower this value to detect nearer obstacles with better accuracy
observation_sources: obs_cloud mock_scan #butt_scan1 butt_scan2
publish_voxel_map: true
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
obs_cloud:
data_type: PointCloud2
topic: /obstacles_cloud
marking: true
clearing: true
min_obstacle_height: 0.01
max_obstacle_height: 0.99
mock_scan:
data_type: LaserScan
topic: /obstacles_scan
marking: false
clearing: true
min_obstacle_height: 0.00
max_obstacle_height: 1.00
inf_is_valid: true
inflation_layer:
enabled: true
cost_scaling_factor: 6.0 #added in by John
inflation_radius: 0.39 #0.45 #Minimum value: 0.379
dynamic_obstacle_layer:
enabled: false
map_tolerance: 0.2
footprint_radius: 0.5
range: 2.0 plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: lowbstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: dynamic_obstacle_layer, type: "dynamic_obstacle_layer::DynamicLayer"} # Uncomment to apply dynamic_obstacle_layer
- {name: inflation_layer, type: "costmap_2d::InflationLayer"} plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: lowbstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
# - {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}
inflation_layer:
enabled: true
cost_scaling_factor: 6.0 #added in by John
inflation_radius: 0.39 #0.45 #Minimum value: 0.379obstacle_layer:
origin_z: -0.1
z_resolution: 1.8 #1.5 This must be higher than the z coordinate of the mounted lidar
z_voxels: 1
obstacle_range: 10.0 #10.0
raytrace_range: 15.0 #15.0
observation_sources: laser_scan_sensor
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
laser_scan_sensor: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0.00, max_obstacle_height: 3.00}
#point_cloud_sensor: {sensor_frame: lslidar_c16_frame, data_type: PointCloud2, topic: /lslidar_c16/lslidar_point_cloud, marking: true, clearing: true}lowbstacle_layer:
origin_z: -0.1
z_resolution: 1.8
z_voxels: 1
obstacle_range: 3.5 #if beyond this threshold, then will not mark as obstacle
raytrace_range: 5.0 #5.0 Lower this value to detect nearer obstacles with better accuracy
observation_sources: obs_cloud mock_scan #butt_scan1 butt_scan2
publish_voxel_map: true
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
obs_cloud:
data_type: PointCloud2
topic: /obstacles_cloud
marking: true
clearing: true
min_obstacle_height: 0.01
max_obstacle_height: 0.99
mock_scan:
data_type: LaserScan
topic: /obstacles_scan
marking: false
clearing: true
min_obstacle_height: 0.00
max_obstacle_height: 1.00
inf_is_valid: true