added move_base, configs, edited urdf

[arm_ros_conn.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
new file mode 100644 (file)
index 0000000..ffff33a
--- /dev/null
+++ b/config/costmap_common_params.yaml
@@ -0,0 +1,9 @@
+obstacle_range: 2.5
+raytrace_range: 3.0
+#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
+robot_radius: 0.15
+inflation_radius: 0.55
+
+observation_sources: laser_scan_sensor
+
+laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}