dwm1000: variance dependant on distance
[ros_wild_thumper.git] / config / costmap_common_params.yaml
1 footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
2
3 obstacle_layer:
4   observation_sources: laser_scan_sensor
5   obstacle_range: 2.5
6   raytrace_range: 3.0
7   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
8
9 inflation_layer:
10   inflation_radius: 0.20
11
12 range_layer:
13   topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
14   no_readings_timeout: 1.0
15   clear_on_max_reading: true
16   mark_threshold: 0.7
17   inflate_cone: 0.0