This is how the costmap looks right now. The yellow stuff has the value 254. The blue stuff has the value 253. I want to expand the portions of value 253, but no matter what parameters I change in
- base_local_planner_params.yaml
- costmap_common_params.yaml
- local_costmap_params.yaml
- global_costmap_params.yaml
Nothing changes in rviz. Parameters right now are:
> max_vel_x: 0.2 min_vel_x: 0.0>> max_vel_y: 0.0 min_vel_y: 0.0>> max_trans_vel: 0.2 min_trans_vel:> 0.0>> max_rot_vel: 0.3 min_rot_vel: 0.05>> sim_time: 2.0 sim_granularity:> 0.025>> goal_distance_bias: 32 > path_distance_bias: 25 > occdist_scale: 0.001>> stop_time_buffer: 0.2 > oscillation_reset_dist: 0.1>> forward_point_distance: 0.2>> scaling_speed: 0.25 > max_scaling_factor: 0.2>> vx_samples: 10 vy_samples: 10 > vtheta_samples: 20>> sim_period: 0.1>> xy_goal_tolerance: 0.2 > yaw_goal_tolerance: 0.2>> rot_stopped_vel: 0.0 > trans_stopped_vel: 0.01>>
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>> obstacle_range: 6.5>> raytrace_range: 6.0>> inflation_radius: 2>> cost_scaling_factor: 0.5>> robot_radius: 1>> max_obstacle_height: 1.7>> min_obstacle_height: 1.0>> observation_sources: scan>> scan: {data_type: PointCloud2, topic:> /velodyne_points_base, marking: true,> clearing: true, expected_update_rate:> 0}
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global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 2.0
publish_frequency: 2.0
static_map: true
rolling_window: false
resolution: 0.05
transform_tolerance: 2.0
map_type: costmap
width: 30.0
height: 30.0
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: obstacles, type: "costmap_2d::VoxelLayer"}
- {name: scancalssifier_layer, type: "scan_classifier_layer_namespace::ScanClassifierLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 2.0
publish_frequency: 2.0
static_map: true
rolling_window: false
width: 2.0
height: 2.0
resolution: 0.05
transform_tolerance: 2.0
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