Hello,
I have completed the mapping with my laser sensors and now want to make a path planning for my robot. The map I have made is static (no dynamic objects, just for the initial testing) and here are my map parameters:
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
The map is 4000x4000 px and with resolution of 0.05 I get 200x200 meters size.
Now, in order for the path planning, I need a local and global costmap params, and here I need your help. Here are my local costmap params:
local_costmap:
update_frequency: 5
publish_frequency: 5
transform_tolerance: 0.25 # 0.25 seconds of latency, if greater than this, planner will stop
static_map: true
rolling_window: true # Follow robot while navigating
width: 3
height: 3
origin_x: -1.5
origin_y: -1.5
resolution: 0.05
inflation_radius: 0.2
And my global params:
global_costmap:
update_frequency: 5
publish_frequency: 5
transform_tolerance: 0.25 # 0.25 seconds of latency, if greater than this, planner will stop
static_map: true
rolling_window: true # Follow robot while navigating
width: 200
height: 200
origin_x: -100
origin_y: -100
resolution: 0.05
inflation_radius: 0.2
**Did I choose ok values for my params? I have included the params of my map into global costmap and chose my own smaller values for my local_costmap
Also, I will not need any sensor readings as the map is static, can I just ignore the cosmtap_common_params, which I have defined like this but want to exclude when running a path planing using move_base package?**
obstacle_range: 6.0
raytrace_range: 8.5
footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
map_topic: /map
subscribe_to_updates: true
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_frame: map
robot_base_frame: base_link
always_send_full_costmap: true
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