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https://github.com/introlab/rtabmap_ros.git
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34 lines
814 B
YAML
34 lines
814 B
YAML
local_costmap:
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global_frame: map
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robot_base_frame: base_footprint
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update_frequency: 2.0
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publish_frequency: 2.0
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static_map: false
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rolling_window: true
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width: 4.0
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height: 4.0
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resolution: 0.025
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origin_x: -2.0
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origin_y: -2.0
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#observation_sources: laser_scan_sensor point_cloud_sensor
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observation_sources: point_cloud_sensor
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laser_scan_sensor: {
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data_type: LaserScan,
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topic: base_scan,
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expected_update_rate: 0.2,
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marking: true,
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clearing: true}
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# assuming receiving a cloud from rtabmap/obstacles_detection node
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point_cloud_sensor: {
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sensor_frame: base_footprint,
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data_type: PointCloud2,
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topic: openni_points,
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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: -99999.0,
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max_obstacle_height: 0.5}
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