added openni point clouds to local costmap of az3_robot_mapping_nav.launch

launch/azimut3/config/costmap_common_params.yaml

@@ -3,7 +3,7 @@ raytrace_range: 3.0
 footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
 footprint_padding: 0.03
 #robot_radius: ir_of_robot
-inflation_radius: 0.55
+inflation_radius: 0.60
 transform_tolerance: 1
 
 controller_patience: 2.0

launch/azimut3/config/local_costmap_params_laser.yaml

@@ -0,0 +1,32 @@
+local_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 2.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 4.0
+  height: 4.0
+  resolution: 0.025
+  origin_x: -2.0
+  origin_y: -2.0
+
+  #observation_sources: laser_scan_sensor
+  observation_sources: laser_scan_sensor point_cloud_sensor
+
+  laser_scan_sensor: {
+    data_type: LaserScan, 
+    topic: base_scan, 
+    expected_update_rate: 0.2, 
+    marking: true, 
+    clearing: true}
+
+  point_cloud_sensor: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2, 
+    topic: openni_points, 
+    expected_update_rate: 0.5, 
+    marking: true, 
+    clearing: true,
+    min_obstacle_height: 0.05,
+    max_obstacle_height: 0.4}

launch/azimut3/config/local_costmap_params_laser_only.yaml

@@ -1,33 +0,0 @@
-local_costmap:
-  global_frame: map
-  robot_base_frame: base_footprint
-  update_frequency: 2.0
-  publish_frequency: 2.0
-  static_map: false
-  rolling_window: true
-  width: 4.0
-  height: 4.0
-  resolution: 0.025
-  origin_x: -2.0
-  origin_y: -2.0
-
-  observation_sources: laser_scan_sensor
-  #observation_sources: laser_scan_sensor point_cloud_sensor
-
-  laser_scan_sensor: {
-    data_type: LaserScan, 
-    topic: base_scan, 
-    expected_update_rate: 0.2, 
-    marking: true, 
-    clearing: true}
-
-  # assuming receiving a cloud from rtabmap/obstacles_detection node
-  #point_cloud_sensor: {
-  #  sensor_frame: base_footprint,
-  #  data_type: PointCloud2, 
-  #  topic: openni_points, 
-  #  expected_update_rate: 0.5, 
-  #  marking: true, 
-  #  clearing: true,
-  #  min_obstacle_height: -99999.0,
-  #  max_obstacle_height: 99999.0}