Refine MKMini 2D navigation costmap

2026-08-12 14:05:05 +09:00
parent 94f7dadbfb
commit d23e15c5dc
1 changed files with 1 additions and 15 deletions
@@ -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