Re: Navigation Stack + rtabmap requesting map configuration problem

Posted by mjedmonds on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-Stack-rtabmap-requesting-map-configuration-problem-tp1378p3233.html

Hi ibd,

I'm using a VLP-16 now, but my costmap_common_params.yaml is very similar to what matlabbe posted:

footprint: [[0.42, -0.43], [0.42, 0.43], [-0.42, 0.43], [-0.42, -0.43]]
footprint_padding: 0.02

inflation_layer:
  inflation_radius: 0.65

transform_tolerance: 2

obstacle_layer:
  obstacle_range: 4.5
  raytrace_range: 5.0
  track_unknown_space: false

  observation_sources: point_cloud_sensorA point_cloud_sensorB
  
  point_cloud_sensorA: {
    sensor_frame: /base_link,
    data_type: PointCloud2,
    topic: /obstacles_cloud,
    expected_update_rate: 0.5,
    max_obstacle_height: 3.0,
    min_obstacle_height: 0.04,
    marking: true,
    clearing: true
  }

  point_cloud_sensorB: {
    sensor_frame: /base_link,
    data_type: PointCloud2,
    topic: /ground_cloud,
    expected_update_rate: 1.0,
    max_obstacle_height: 0.5,
    min_obstacle_height: -1.0, # make sure the ground is filtered
    marking: false,
    clearing: true
  }