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I'm beginner, I'm using the default navigation params of Turtlebot and wondering what parameters should be changed to obtain the desired map. I attached the common costmap and r200 costmap yaml files.

I'm beginner, I'm using the default navigation params of Turtlebot and wondering what parameters should be changed to obtain the desired map. I attached the common costmap costmap

"
    max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

map_type: voxel

obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2
  z_voxels:             2C
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  false    #true needed for disabling global path planning through unknown space
  obstacle_range: 2.5
  raytrace_range: 3.0
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 2
  publish_voxel_map: false

#BEGIN VOXEL STUFF

  observation_sources:  scan bump

  #observation_sources:  base_scan_marking base_scan tilt_scan #ground_object_cloud

  scan:
    data_type: LaserScan
    topic: scan
    marking: true
    clearing: true
    min_obstacle_height: 0.0
    max_obstacle_height: 3

 bump:
    data_type: PointCloud2
    topic: mobile_base/sensors/bumper_pointcloud
    marking: true
    clearing: false
    min_obstacle_height: 0.0
    max_obstacle_height: 3

#base_scan_marking: {sensor_frame: base_laser_link, topic: /#base_scan_marking, data_type: PointCloud2, #expected_update_rate: 0.2,
  #observation_persistence: 0.0, marking: true, clearing: false, #min_obstacle_height: 0.08, max_obstacle_height: 2.0}

#base_scan: {sensor_frame: base_laser_link, topic: /base_scan, #data_type: LaserScan, expected_update_rate: 0.2,
             #observation_persistence: 0.0, marking: false, #clearing: true, min_obstacle_height: -0.10, #max_obstacle_height: 2.0}

#tilt_scan: {sensor_frame: laser_tilt_link, topic: /#tilt_scan_interpolated, data_type: LaserScan, #expected_update_rate: 0.2,
             #observation_persistence: 0.2, marking: false, #clearing: true, min_obstacle_height: -20.00, #max_obstacle_height: 40.0}

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.5  # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
  enabled:              true
"

here is the r200 costmap param yaml files.file

global_costmap:
  robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
  obstacle_layer:
    scan:
      data_type: LaserScan
      topic: scan
      marking: true
      clearing: true
      min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration!
      max_obstacle_height: 0.35

local_costmap:
  robot_radius: 0.18  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
  obstacle_layer:
    scan:
      data_type: LaserScan
      topic: scan
      marking: true
      clearing: true
      min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration!
      max_obstacle_height: 0.35

I'm beginner, I'm using the default navigation params of Turtlebot and wondering what parameters should be changed to obtain the desired map. the common costmap

"
    max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

map_type: voxel

obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2
  z_voxels:             2C
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  false    #true needed for disabling global path planning through unknown space
  obstacle_range: 2.5
  raytrace_range: 3.0
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 2
  publish_voxel_map: false

#BEGIN VOXEL STUFF

  observation_sources:  scan bump

  #observation_sources:  base_scan_marking base_scan tilt_scan #ground_object_cloud

  scan:
    data_type: LaserScan
    topic: scan
    marking: true
    clearing: true
    min_obstacle_height: 0.0
    max_obstacle_height: 3

 bump:
    data_type: PointCloud2
    topic: mobile_base/sensors/bumper_pointcloud
    marking: true
    clearing: false
    min_obstacle_height: 0.0
    max_obstacle_height: 3

#base_scan_marking: {sensor_frame: base_laser_link, topic: /#base_scan_marking, data_type: PointCloud2, #expected_update_rate: 0.2,
  #observation_persistence: 0.0, marking: true, clearing: false, #min_obstacle_height: 0.08, max_obstacle_height: 2.0}

#base_scan: {sensor_frame: base_laser_link, topic: /base_scan, #data_type: LaserScan, expected_update_rate: 0.2,
             #observation_persistence: 0.0, marking: false, #clearing: true, min_obstacle_height: -0.10, #max_obstacle_height: 2.0}

#tilt_scan: {sensor_frame: laser_tilt_link, topic: /#tilt_scan_interpolated, data_type: LaserScan, #expected_update_rate: 0.2,
             #observation_persistence: 0.2, marking: false, #clearing: true, min_obstacle_height: -20.00, #max_obstacle_height: 40.0}

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.5  # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
  enabled:              true
"

here is the r200 costmap param yaml file

global_costmap:
  robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
  obstacle_layer:
    scan:
      data_type: LaserScan
      topic: scan
      marking: true
      clearing: true
      min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration!
      max_obstacle_height: 0.35

local_costmap:
  robot_radius: 0.18  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
  obstacle_layer:
    scan:
      data_type: LaserScan
      topic: scan
      marking: true
      clearing: true
      min_obstacle_height: 0.05 # previous: 0.25, too high for the R200 configuration!
      max_obstacle_height: 0.35