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Tuning azimut3 navigation parameters

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matlabbe
2015-03-27 18:55:34 -04:00
parent a0bd43b9cf
commit 4864b35775
5 changed files with 100 additions and 54 deletions
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launch/azimut3/config/costmap_common_params.yaml
+4 -4
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@@ -1,9 +1,9 @@
obstacle_range: 2.5
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
footprint_padding: 0.02
#robot_radius: 0.38
#robot_radius: ir_of_robot
inflation_radius: 0.55
inflation_layer:
inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
transform_tolerance: 2