From d23e15c5dc3f8558bbb151d5c8f1048c7d78d064 Mon Sep 17 00:00:00 2001 From: chyoo Date: Wed, 12 Aug 2026 14:05:05 +0900 Subject: [PATCH] Refine MKMini 2D navigation costmap --- .../config/planning_2d_sim_mkmini.yaml | 16 +--------------- 1 file changed, 1 insertion(+), 15 deletions(-) diff --git a/src/planning_pkg/config/planning_2d_sim_mkmini.yaml b/src/planning_pkg/config/planning_2d_sim_mkmini.yaml index 954b0c4..07253d4 100755 --- a/src/planning_pkg/config/planning_2d_sim_mkmini.yaml +++ b/src/planning_pkg/config/planning_2d_sim_mkmini.yaml @@ -81,24 +81,10 @@ global_costmap: footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]" resolution: 0.05 track_unknown_space: true - plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + plugins: ["static_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True - obstacle_layer: - plugin: "nav2_costmap_2d::ObstacleLayer" - enabled: True - observation_sources: scan - scan: - topic: /scan - max_obstacle_height: 2.0 - clearing: True - marking: True - data_type: "LaserScan" - raytrace_max_range: 8.0 - raytrace_min_range: 0.0 - obstacle_max_range: 6.0 - obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 2.0