templates/lms-nav2-gazebo-planning
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Refine MKMini 2D navigation costmap

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chyoo
2026-08-12 14:05:05 +09:00
parent 94f7dadbfb
commit d23e15c5dc
1 changed files with 1 additions and 15 deletions
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src/planning_pkg/config/planning_2d_sim_mkmini.yaml
+1 -15
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@@ -81,24 +81,10 @@ global_costmap:
footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]" footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]"
resolution: 0.05 resolution: 0.05
track_unknown_space: true track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"] plugins: ["static_layer", "inflation_layer"]
static_layer: static_layer:
plugin: "nav2_costmap_2d::StaticLayer" plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True 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: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 2.0 cost_scaling_factor: 2.0