From 8905c3fc988fe76614e31ad2080aff336006c8c3 Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Tue, 8 Oct 2019 17:41:46 -0700
Subject: [PATCH] move scan parameters under obstacle layer namespace
---
nav2_bringup/bringup/params/nav2_params.yaml | 20 ++++++++++----------
1 file changed, 10 insertions(+), 10 deletions(-)
diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
index 595cd818..d8c522f3 100644
--- a/nav2_bringup/bringup/params/nav2_params.yaml
+++ b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -112,15 +112,15 @@ local_costmap:
inflation_layer.cost_scaling_factor: 3.0
obstacle_layer:
enabled: True
+ scan:
+ topic: /scan
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
observation_sources: scan
- scan:
- topic: /scan
- max_obstacle_height: 2.0
- clearing: True
- marking: True
local_costmap_client:
ros__parameters:
use_sim_time: True
@@ -135,15 +135,15 @@ global_costmap:
robot_radius: 0.22
obstacle_layer:
enabled: True
+ scan:
+ topic: /scan
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
observation_sources: scan
- scan:
- topic: /scan
- max_obstacle_height: 2.0
- clearing: True
- marking: True
global_costmap_client:
ros__parameters:
use_sim_time: True
--
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