Mastering ROS for Robotics Programming - Second Edition

Common configuration local_costmap and global_costmap

The common parameters of the local and the global costmap are discussed in this section. The costmap is created using the obstacles present around the robot. Fine tuning the parameters of the costmap can increase the accuracy of map generation. The customized file costmap_common_params.yaml of Chefbot follows. This configuration file contains the common parameters of both the global and the local cost maps. It is present in the chefbot_bringup/param folder. For more about costmap common parameters, check http://wiki.ros.org/costmap_2d/flat:

#The maximum value of height which has to be taken as an obstaclemax_obstacle_height: 0.60#This parameters set the maximum obstacle range. In this ...