Robot Operating System Cookbook

Common parameters

Let's begin with the common parameters. First of all, we will create a file with the name costmap_common_params.yaml in chapter6_tutorials/launch and add the following code (refer to GitHub for more information https://github.com/kbipin/Robot-Operating-System-Cookbook/blob/master/chapter7_tutorials/launch/costmap_common_params.yaml):

obstacle_range: 2.5raytrace_range: 3.0footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]#robot_radius: ir_of_robotinflation_radius: 0.5cost_scaling_factor: 10.0observation_sources: scanscan: {sensor_frame: base_link, observation_persistence: 0.0, max_obstacle_height: 0.4, min_obstacle_height: 0.0, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

The preceding file ...