mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
52 lines
1.1 KiB
YAML
52 lines
1.1 KiB
YAML
global_frame: odom
|
|
robot_base_frame: base_footprint
|
|
update_frequency: 2.0
|
|
publish_frequency: 2.0
|
|
rolling_window: true
|
|
width: 4.0
|
|
height: 4.0
|
|
resolution: 0.025
|
|
origin_x: -2.0
|
|
origin_y: -2.0
|
|
|
|
plugins:
|
|
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
|
|
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
|
|
|
|
obstacle_layer:
|
|
obstacle_range: 2.5
|
|
raytrace_range: 3.0
|
|
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
|
|
}
|
|
|