From: Erik Andresen <erik@vontaene.de>
Date: Sun, 30 Apr 2017 07:46:52 +0000 (+0200)
Subject: navigation tuning
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=7acbe5c94bea992956f981598ca7d8679c6456ca;p=ros_roboint.git

navigation tuning
---

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index b4f0f06..b079e1b 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -2,4 +2,4 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.105
-inflation_radius: 0.15
+inflation_radius: 0.02
diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index f3cfe7c..f7d9d66 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,9 +5,9 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 4.0
-  height: 4.0
-  resolution: 0.01
+  width: 2.0
+  height: 2.0
+  resolution: 0.05
   plugins:
   - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 83cc48b..56e07d1 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -31,8 +31,8 @@ class RoboExplorer:
 		scan.header.stamp = current_time
 		scan.header.frame_id = "forward_sensor"
 		scan.radiation_type = 0
-		scan.field_of_view = 60*pi/180
-		scan.min_range = 0.0
+		scan.field_of_view = 30*pi/180
+		scan.min_range = 0.04
 		scan.max_range = 4.0
 		scan.range = msg.d1/100.0
 		self.pub_sonar.publish(scan)