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Fix/nav2 local costmap #73

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merged 3 commits into from
Nov 1, 2023
Merged

Fix/nav2 local costmap #73

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e53cf60
fix_uupdagte(publish)_frequency_&_footprint_&_inflation_layer
shunki1006 Nov 1, 2023
06e7e5f
fix_clearing_radius_and_raytrace_range
shunki1006 Nov 1, 2023
289dadb
delete comment out
shunki1006 Nov 1, 2023
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12 changes: 7 additions & 5 deletions orange_navigation/config/navigation2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -179,21 +179,21 @@ controller_server_rclcpp_node:
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
update_frequency: 10.0
publish_frequency: 5.0
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: True
rolling_window: true
width: 8
height: 8
resolution: 0.05
footprint: "[ [0.2, 0.33], [0.2, -0.33], [-0.65, -0.33], [-0.65, 0.33] ]"
footprint: "[ [0.40, 0.45], [0.40, -0.45], [-0.70, -0.45], [-0.70, 0.45] ]"
plugins: ["obstacle_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
inflation_radius: 0.2
cost_scaling_factor: 30.0
inflation_radius: 0.3
cost_scaling_factor: 25.0
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
Expand All @@ -204,6 +204,8 @@ local_costmap:
clearing: True
marking: True
data_type: "LaserScan"
clearing_radius: 1.0
raytrace_range: 5.0
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
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