Increase size of local cost map

husarion · Nov 29, 2024 · e7b5d1b · e7b5d1b
1 parent e8b0c6d
commit e7b5d1b
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Showing 3 changed files with 21 additions and 21 deletions.
diff --git a/docker/config/components.yaml b/docker/config/components.yaml
@@ -2,6 +2,6 @@
 components:
   - type: LDR20
     parent_link: cover_link
-    xyz: 0.18 0.0 0.02
+    xyz: 0.185 0.0 0.0
     rpy: 0.0 0.0 0.0
     device_namespace: None
diff --git a/husarion_ugv_navigation/config/nav2_laserscan_params.yaml b/husarion_ugv_navigation/config/nav2_laserscan_params.yaml
@@ -148,8 +148,8 @@ local_costmap:
       update_frequency: 5.0
       publish_frequency: 2.0
 
-      width: 5
-      height: 5
+      width: 8
+      height: 8
       resolution: 0.05
 
       always_send_full_costmap: true
@@ -161,18 +161,18 @@ local_costmap:
       obstacle_layer:
         plugin: nav2_costmap_2d::ObstacleLayer
         footprint_clearing_enabled: true
-        min_obstacle_height: 0.1
-        max_obstacle_height: 0.5
         observation_sources: scan
         scan:
           topic: <observation_topic>
           clearing: true
           marking: true
           data_type: LaserScan
-          raytrace_max_range: 12.0
-          raytrace_min_range: 0.9
+          min_obstacle_height: 0.1
+          max_obstacle_height: 0.5
           obstacle_max_range: 12.0
           obstacle_min_range: 0.9
+          raytrace_max_range: 12.0
+          raytrace_min_range: 0.9
       inflation_layer:
         plugin: nav2_costmap_2d::InflationLayer
         cost_scaling_factor: 1.3
@@ -205,18 +205,18 @@ global_costmap:
       obstacle_layer:
         plugin: nav2_costmap_2d::ObstacleLayer
         footprint_clearing_enabled: true
-        min_obstacle_height: 0.1
-        max_obstacle_height: 0.5
         observation_sources: scan
         scan:
           topic: <observation_topic>
           clearing: true
           marking: true
           data_type: LaserScan
-          raytrace_max_range: 12.0
-          raytrace_min_range: 0.9
+          min_obstacle_height: 0.1
+          max_obstacle_height: 0.5
           obstacle_max_range: 12.0
           obstacle_min_range: 0.9
+          raytrace_max_range: 12.0
+          raytrace_min_range: 0.9
       inflation_layer:
         plugin: nav2_costmap_2d::InflationLayer
         cost_scaling_factor: 1.5

diff --git a/husarion_ugv_navigation/config/nav2_pointcloud_params.yaml b/husarion_ugv_navigation/config/nav2_pointcloud_params.yaml
@@ -148,8 +148,8 @@ local_costmap:
       update_frequency: 5.0
       publish_frequency: 2.0
 
-      width: 5
-      height: 5
+      width: 8
+      height: 8
       resolution: 0.05
 
       always_send_full_costmap: true
@@ -164,19 +164,19 @@ local_costmap:
         origin_z: 0.0
         z_resolution: 0.05
         z_voxels: 10
-        min_obstacle_height: 0.1
-        max_obstacle_height: 0.5
         mark_threshold: 0
         observation_sources: point_cloud
         point_cloud:
           topic: <observation_topic>
           clearing: true
           marking: true
           data_type: PointCloud2
-          raytrace_max_range: 12.0
-          raytrace_min_range: 0.9
+          min_obstacle_height: 0.1
+          max_obstacle_height: 0.5
           obstacle_max_range: 12.0
           obstacle_min_range: 0.9
+          raytrace_max_range: 12.0
+          raytrace_min_range: 0.9
       inflation_layer:
         plugin: nav2_costmap_2d::InflationLayer
         cost_scaling_factor: 1.3
@@ -212,19 +212,19 @@ global_costmap:
         origin_z: 0.0
         z_resolution: 0.05
         z_voxels: 10
-        min_obstacle_height: 0.1
-        max_obstacle_height: 0.5
         mark_threshold: 0
         observation_sources: point_cloud
         point_cloud:
           topic: <observation_topic>
           clearing: true
           marking: true
           data_type: PointCloud2
-          raytrace_max_range: 12.0
-          raytrace_min_range: 0.9
+          min_obstacle_height: 0.1
+          max_obstacle_height: 0.5
           obstacle_max_range: 12.0
           obstacle_min_range: 0.9
+          raytrace_max_range: 12.0
+          raytrace_min_range: 0.9
       inflation_layer:
         plugin: nav2_costmap_2d::InflationLayer
         cost_scaling_factor: 1.5