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Auto-answer time :) ... or at least better configs files without troubles :)

costmap_common:

footprint: [[-0.792, -0.344], [0.408, -0.344], [0.408, 0.344], [-0.792,0.344]]

observation_sources: scan scan2
scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
scan2: {sensor_frame: /laser2, data_type: LaserScan, topic: /scan2, marking: true, clearing: false}

inflation_radius: 0.344

global costmap:

#Independent settings for the planner's costmap
global_costmap: 
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: true
  rolling_window: map
  width: 40.0
  height: 40.0
  resolution: 0.05

local costmap:

local_costmap:
  update_frequency: 3.0
  publish_frequency: 3.0
  static_map: false
  rolling_window: true
  width: 5
  height: 5
  resolution: 0.1
  origin_x: 0.0
  origin_y: 0.0

Now the nav plan don't plan to go through map walls.