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- 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
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