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Updated az3_mapping_robot_kinect_scan.launch demo

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This commit is contained in:
matlabbe
2015-11-06 14:52:37 -05:00
parent facfbbb9dc
commit 1cba7053d0
3 changed files with 120 additions and 61 deletions
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launch/azimut3/config/costmap_common_params_2d.yaml
+4 -4
View File
@@ -17,7 +17,7 @@ obstacle_layer:
laser_scan_sensor: {
data_type: LaserScan,
topic: base_scan,
expected_update_rate: 0.2,
expected_update_rate: 0.1,
marking: true,
clearing: true
}
@@ -26,7 +26,7 @@ obstacle_layer:
sensor_frame: base_footprint,
data_type: PointCloud2,
topic: obstacles_cloud,
expected_update_rate: 0.5,
expected_update_rate: 0.2,
marking: true,
clearing: true,
min_obstacle_height: 0.04
@@ -36,10 +36,10 @@ obstacle_layer:
sensor_frame: base_footprint,
data_type: PointCloud2,
topic: ground_cloud,
expected_update_rate: 0.5,
expected_update_rate: 0.2,
marking: false,
clearing: true,
min_obstacle_height: -1.0 # make usre the ground is not filtered
min_obstacle_height: -1.0 # make sure the ground is not filtered
}
launch/azimut3/config/local_costmap_params.yaml
+2 -2
View File
@@ -1,7 +1,7 @@
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 2
publish_frequency: 1
update_frequency: 5
publish_frequency: 2
rolling_window: true
width: 3.0
height: 3.0