ROS Programming: Building Powerful Robots

Configuring the common parameters

Let's start with the common parameters. Create a new file in chapter6_tutorials/launch with the name costmap_common_params.yaml, and add the following code.

The following script is present in costmap_common_params.yaml:

obstacle_range: 2.5 
raytrace_range: 3.0 
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]] 
inflation_radius: 0.5 
cost_scaling_factor: 10.0 
observation_sources: scan 
scan: {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}

This file is used to configure common parameters. The parameters are used in local_costmap and global_costmap. Let's break the code and understand ...