14 lines
479 B
YAML
14 lines
479 B
YAML
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obstacle_range: 2.5 #2.5
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raytrace_range: 3.0 #3.0
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#footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]]
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#footprint_inflation: 0.01
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robot_radius: 0.175 #0.175
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max_obstacle_height: 0.6
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min_obstacle_height: 0.0
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observation_sources: scan
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scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}
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# if set to false,then obstacle layer take unknow space to be free.
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obstacle_layer:
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track_unknown_space: true
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