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max_obstacle_height: 1.2 # assume something like an arm is mounted on top of the robot
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.40 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
map_type: voxel
obstacle_layer:
enabled: true
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 3.0
origin_z: 0.8
z_resolution: 0.4
z_voxels: 1
publish_voxel_map: false
observation_sources: scan # was 'bump'
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
inf_is_valid: true
min_obstacle_height: 0.8
max_obstacle_height: 1.2
# bump:
# data_type: PointCloud2
# topic: /camera/depth/points
# marking: true
# clearing: true
# min_obstacle_height: 0.8
# max_obstacle_height: 1.2
# for debugging only, let's you see the entire voxel grid
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true