mirror of
https://github.com/introlab/rtabmap_ros.git
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44 lines
1.0 KiB
YAML
44 lines
1.0 KiB
YAML
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
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footprint_padding: 0.04
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inflation_layer:
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inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
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transform_tolerance: 2
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obstacle_layer:
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obstacle_range: 2.5
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raytrace_range: 3
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max_obstacle_height: 0.4
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track_unknown_space: true
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observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
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laser_scan_sensor: {
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data_type: LaserScan,
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topic: scan,
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expected_update_rate: 0.1,
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marking: true,
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clearing: true
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}
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point_cloud_sensorA: {
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sensor_frame: base_footprint,
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data_type: PointCloud2,
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topic: obstacles_cloud,
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expected_update_rate: 0.5,
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marking: true,
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clearing: true,
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min_obstacle_height: 0.04
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}
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point_cloud_sensorB: {
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sensor_frame: base_footprint,
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data_type: PointCloud2,
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topic: ground_cloud,
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expected_update_rate: 0.5,
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marking: false,
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clearing: true,
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min_obstacle_height: -1.0 # make sure the ground is not filtered
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}
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