From 2df437a779847070d89c37f8f79776acc5446193 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Tue, 25 Feb 2020 07:22:42 +0100 Subject: [PATCH] global_costmap: overwrite with track_unknown_space=true for obstacle layer --- config/costmap_common_params.yaml | 1 - config/global_costmap_params.yaml | 4 ++++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml index 9c93210..5ff675a 100644 --- a/config/costmap_common_params.yaml +++ b/config/costmap_common_params.yaml @@ -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 diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml index af07509..3e1fd1d 100644 --- a/config/global_costmap_params.yaml +++ b/config/global_costmap_params.yaml @@ -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 -- 2.39.2