mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
60c1e06059
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1927 f169173b-cf89-36c8-b27e-44dbe73f0c83
41 lines
951 B
YAML
41 lines
951 B
YAML
obstacle_range: 2.5
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raytrace_range: 3.0
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footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
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footprint_padding: 0.03
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#robot_radius: ir_of_robot
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inflation_radius: 0.55
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transform_tolerance: 1
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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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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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controller_patience: 2.0
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NavfnROS:
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allow_unknown: true
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recovery_behaviors: [
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{name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
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{name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
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]
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conservative_clear:
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reset_distance: 3.00
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aggressive_clear:
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reset_distance: 1.84
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