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navigate.yaml
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navigate.yaml
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costmap_3d:
ang_resolution: 16
linear_expand: 0.08
linear_spread: 0.3
static_layers:
- name: unknown
type: Costmap3dLayerUnknownHandle
unknown_cost: 100
- name: overlay0
type: Costmap3dLayerPlain
overlay_mode: max
linear_expand: 0.0
linear_spread: 0.0
layers:
- name: stop_propagation
type: Costmap3dLayerStopPropagation
- name: overlay2
type: Costmap3dLayerPlain
overlay_mode: max
linear_expand: 0.08
linear_spread: 0.0
keep_unknown: true
- name: overlay1
type: Costmap3dLayerFootprint
overlay_mode: max
linear_expand: 0.15
linear_spread: 0.3
keep_unknown: true
planner_3d:
num_threads: 2
freq: 2.0
freq_min: 0.5
local_range: 2.0
remember_updates: true
hist_ignore_range: 0.0
hist_ignore_range_max: 1.5
spur:
hz: 30.0
k_dist: 16.0
k_ang: 10.0
k_avel: 4.0
dist_lim: 0.5
goal_tolerance_dist: 0.05
goal_tolerance_ang: 0.05
stop_tolerance_dist: 0.04
stop_tolerance_ang: 0.04
no_position_control_dist: 0.05
limit_vel_by_avel: true
path_step: 1
look_forward: 0.0
curv_forward: 0.5