navigation tuning

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index b4f0f067fe10d921376089f06ed3857acdfd1b17..b079e1bd37de51b1ac662b93ad38552536b11da0 100644 (file)
--- 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 f3cfe7c402c847c3a1357f888a4ba69d28543151..f7d9d66bd971b56c74237d016cc6d733a30a7738 100644 (file)
--- 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 83cc48b70b3e40533820de40a8f2c4fcb26c6066..56e07d16b6a726ea6b58634d8400608a3ccbf29b 100755 (executable)
--- 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)