I would like to use the same package with two different parameters
Hello. I am a ROS beginner. I am doing SLAM of turtlebot 2 in the ubuntu 14.04, ros (indigo) personal computer environment.
I am making a plugin for costmap _ 2 d. So I would like to use two inflation layers with different parameters. How can I duplicate the same package? Thank you.
https://github.com/ros-planning/navig...
I decided to create a package named inf_layer. However, I feel that an error will occur because the namespace is intact. Paste the source code. https://github.com/yugogogogogo/infla... Please tell me how to do it.
plugins:
- {name: simple_layer, type: "simple_layer_namespace::SimpleLayer"}
- {name: inf_layer, type: "costmap_2d::InflationLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
inf_layer: cost_scaling_factor: 1 inflation_radius: 1.2 enabled: true
inflation_layer: cost_scaling_factor: 5 # 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. (default: 0.5) enabled: true