Added modified static_layer costmap_2d plugin

2026-10-04 00:37:46 +08:00 · 2015-03-22 17:47:35 -04:00
parent 9eee16891e
commit 6acc7cc19a
12 changed files with 399 additions and 36 deletions
@@ -0,0 +1,33 @@
+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 point_cloud_sensor
+  observation_sources: 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: 0.5}