global_costmap:
authorErik Andresen <erik@vontaene.de>
Tue, 25 Feb 2020 06:22:42 +0000 (07:22 +0100)
committerErik Andresen <erik@vontaene.de>
Tue, 25 Feb 2020 06:22:42 +0000 (07:22 +0100)
overwrite with track_unknown_space=true for obstacle layer

config/costmap_common_params.yaml
config/global_costmap_params.yaml

index 9c93210..5ff675a 100644 (file)
@@ -5,7 +5,6 @@ obstacle_layer:
   obstacle_range: 2.5
   raytrace_range: 3.0
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
-  combination_method: 0 # overwrite
 
 inflation_layer:
   inflation_radius: 0.20
index af07509..3e1fd1d 100644 (file)
@@ -12,3 +12,7 @@ global_costmap:
     # low slope decay curve
     inflation_radius: 1.75
     cost_scaling_factor: 2.58
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true