config_map_utility_cylinders0_firefly.yaml

# AUTHOR: Neset Unver Akmandor (NUA)
#         Gary M. Lvov (GML)
# E-MAIL: akmandor.n@northeastern.edu
#         lvov.g@northeastern.edu

world_frame_name: "world"
map_name: "tentabot"
map_frame_name: "firefly/base_link" 
map_resolution: 0.1
map_server_dt: 0.1

local_map_flag: true 
dynamic_flag: true 
skip_cnt_reset_sensor_range: 5 

sensor_pc2_msg_name: "/firefly/camera/depth/points" 
sensor_pc2_direction: "z" 
sensor_pc2_min_range: 0.3
sensor_pc2_max_range: 12.0
sensor_pc2_max_yaw: 0.9
sensor_pc2_max_pitch: 0.3

sensor_laser_msg_name: "/firefly/scan" 
sensor_laser_max_range: 4.0 

# Based on physical parameters of robot
crop_x_min: -0.15
crop_x_max: 0.15
crop_y_min: -0.15
crop_y_max: 0.15
crop_z_min: -0.3
crop_z_max: 0.3

# Based on max sensor range of robot
bbx_x_min: -10
bbx_x_max: 10
bbx_y_min: -10
bbx_y_max: 10
bbx_z_min: -5.0
bbx_z_max: 5.0

filter_ground: false 
filter_ground_threshold: 0.05