add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,31 @@
+global_frame: map
+robot_base_frame: base_link
+update_frequency: 5.0
+publish_frequency: 0.0
+static_map: true
+rolling_window: false
+
+#START VOXEL STUFF
+map_type: voxel
+origin_z: 0.0
+z_resolution: 0.2
+z_voxels: 10
+unknown_threshold: 10
+mark_threshold: 0
+#END VOXEL STUFF
+
+transform_tolerance: 0.3
+obstacle_max_range: 2.5
+obstacle_min_range: 0.0
+max_obstacle_height: 2.0
+raytrace_max_range: 3.0
+raytrace_min_range: 0.0
+footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
+#robot_radius: 0.46
+footprint_padding: 0.01
+inflation_radius: 0.55
+cost_scaling_factor: 10.0
+lethal_cost_threshold: 100
+observation_sources: base_scan
+base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
+  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}