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- #!/usr/bin/env python
- from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t
- gen = ParameterGenerator()
- gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True)
- gen.add("cost_scaling_factor", double_t, 0, "A scaling factor to apply to cost values during inflation.", 10, 0, 100)
- gen.add("inflation_radius", double_t, 0, "The radius in meters to which the map inflates obstacle cost values.", 0.55, 0, 50)
- gen.add("inflate_unknown", bool_t, 0, "Whether to inflate unknown cells.", False)
- exit(gen.generate("costmap_2d", "costmap_2d", "InflationPlugin"))
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