turtlebot3_cleaner/clean_robot/param/costmap_common_params_waffl...

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YAML

obstacle_range: 3.0
raytrace_range: 3.5
footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
#robot_radius: 0.17
inflation_radius: 1.0
cost_scaling_factor: 3.0
map_type: costmap
observation_sources: scan
scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}