config_map_utility_rosbot.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: "rosbot_0/base_link"
map_resolution: 0.1
map_server_dt: 0.1

local_map_flag: true
dynamic_flag: true
skip_cnt_reset_sensor_range: 1

# NOTE: Orbec Astra RGB Camera
#       https://www.roscomponents.com/en/cameras/76-orbbec.html
sensor_pc2_msg_name: "/rosbot_0/camera/depth/points"
sensor_pc2_direction: "z"
sensor_pc2_min_range: 0.4 
sensor_pc2_max_range: 8.0 
sensor_pc2_max_yaw: 1.047   # rad
sensor_pc2_max_pitch: 0.86

sensor_laser_msg_name: "/rosbot_0/scan"
sensor_laser_max_range: 12.0

# NOTE: Based on physical parameters of robot
#       https://husarion.com/tutorials/ros-tutorials/7-path-planning - footprint param
crop_x_min: -0.13
crop_x_max: 0.13 
crop_y_min: -0.15
crop_y_max: 0.15
crop_z_min: -0.0
crop_z_max: 0.3

# NOTE: Based on max sensor range of robot
bbx_x_min: -5
bbx_x_max: 10
bbx_y_min: -10
bbx_y_max: 10
bbx_z_min: 0.0
bbx_z_max: 2.0

filter_ground: true
filter_ground_threshold: 0.05