global_frame: map
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 2.0

# 如果要发布体素贴图，请设置
publish_voxel_map: false

# 如果要从静态映射初始化costmap，请设置为true
static_map: true

#begin - COMMENT these lines if you set static_map to true
# rolling_window: true
# width: 6.0
# height: 6.0
# resolution: 0.025
#end - COMMENT these lines if you set static_map to true

#START VOXEL STUFF  体素地图的相关参数
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0
#END VOXEL STUFF

transform_tolerance: 0.3
obstacle_range: 10.0    # 障碍物的最大范围
max_obstacle_height: 2.0
raytrace_range: 10.0   # 射线跟踪的最大范围
# footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
footprint: [[-0.75, -0.4], [-0.75, 0.4], [0.75, 0.4], [0.75, -0.4]]

# robot_radius: 0.8
footprint_padding: 0.05
inflation_radius: 0.9    # 膨胀半径
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
# observation_sources: base_scan  # 原来是这个
observation_sources: scan_pointcloud
base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}


# clearing: true

#如果设置为true，障碍层代价地图会有未知、自由和完全占用三种情况
#如果设置为false，障碍层代价地图只有自由和完全占用两种情况
track_unknown_space: true