Azimut3 config: updated move_base parameters

launch/azimut3/config/costmap_common_params_2d.yaml

@@ -0,0 +1,45 @@
+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
+inflation_layer:
+  inflation_radius: 0.6 # 2xfootprint, it helps to keep the global planned path farther from obstacles
+transform_tolerance: 2
+
+obstacle_layer:
+  obstacle_range: 2.5
+  raytrace_range: 3
+  max_obstacle_height: 0.4
+  track_unknown_space: true
+
+  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
+
+  laser_scan_sensor: {
+    data_type: LaserScan,
+    topic: base_scan,
+    expected_update_rate: 0.2,
+    marking: true,
+    clearing: true
+  }
+
+  point_cloud_sensorA: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: obstacles_cloud,
+    expected_update_rate: 0.5,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: 0.04
+  }
+
+  point_cloud_sensorB: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2,
+    topic: ground_cloud,
+    expected_update_rate: 0.5,
+    marking: false,
+    clearing: true,
+    min_obstacle_height: -1.0 # make usre the ground is not filtered
+  }
+
+