mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
52 lines
1.1 KiB
YAML
52 lines
1.1 KiB
YAML
global_frame: odom
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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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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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plugins:
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- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
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- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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obstacle_layer:
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obstacle_range: 2.5
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raytrace_range: 3.0
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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: 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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}
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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 usre the ground is not filtered
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}
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