Updated az3_mapping_robot_kinect_scan.launch (fixed openni rate)

launch/azimut3/config/costmap_common_params_2d.yaml

@@ -1,7 +1,5 @@
 footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
-footprint_padding: 0.02
-#robot_radius: 0.38
-#robot_radius: ir_of_robot
+footprint_padding: 0.04
 inflation_layer:
   inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
 transform_tolerance: 2
@@ -16,7 +14,7 @@ obstacle_layer:
 
   laser_scan_sensor: {
     data_type: LaserScan,
-    topic: base_scan,
+    topic: scan,
     expected_update_rate: 0.1,
     marking: true,
     clearing: true
@@ -26,7 +24,7 @@ obstacle_layer:
     sensor_frame: base_footprint,
     data_type: PointCloud2,
     topic: obstacles_cloud,
-    expected_update_rate: 0.2,
+    expected_update_rate: 0.5,
     marking: true,
     clearing: true,
     min_obstacle_height: 0.04
@@ -36,7 +34,7 @@ obstacle_layer:
     sensor_frame: base_footprint,
     data_type: PointCloud2,
     topic: ground_cloud,
-    expected_update_rate: 0.2,
+    expected_update_rate: 0.5,
     marking: false,
     clearing: true,
     min_obstacle_height: -1.0 # make sure the ground is not filtered

launch/azimut3/config/global_costmap_params.yaml

@@ -2,7 +2,7 @@
 global_frame: map
 robot_base_frame: base_footprint
 update_frequency: 1
-publish_frequency: 2
+publish_frequency: 1
 always_send_full_costmap: false
 plugins:
    - {name: static_layer, type: "rtabmap_ros::StaticLayer"}

launch/azimut3/config/local_costmap_params.yaml

@@ -1,7 +1,7 @@
 global_frame: odom
 robot_base_frame: base_footprint
-update_frequency: 5
-publish_frequency: 2
+update_frequency: 2
+publish_frequency: 1
 rolling_window: true
 width: 3.0
 height: 3.0