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setting unknown_cost_value to 100 #41

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merged 2 commits into from
Mar 11, 2015
Merged

setting unknown_cost_value to 100 #41

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32be197
setting unknown_cost_value to 100
Jailander Mar 5, 2015
0f64e10
Avoiding planning through Unknown Areas by adding tracking of unknown…
Jailander Mar 10, 2015
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1 change: 1 addition & 0 deletions strands_movebase/launch/movebase.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@
<rosparam file="$(find strands_movebase)/strands_movebase_params/local_costmap_params.yaml" command="load"/>
<rosparam file="$(find strands_movebase)/strands_movebase_params/global_costmap_params.yaml" command="load"/>
<rosparam file="$(find strands_movebase)/strands_movebase_params/dwa_planner_ros.yaml" command="load"/>
<rosparam file="$(find strands_movebase)/scitos_move_base_params/nav_fn_ros.yaml" command="load" />
<param name="local_costmap/obstacle_layer/point_cloud_sensor/min_obstacle_height" value="$(arg z_obstacle_threshold)"/>
<param name="global_costmap/obstacle_layer/point_cloud_sensor/min_obstacle_height" value="$(arg z_obstacle_threshold)"/>
<rosparam param="local_costmap/obstacle_layer/observation_sources" if="$(arg with_head_xtion)">laser_obstacle laser_clearing point_cloud_sensor clear_sensor cliff_sensor head_cloud_sensor head_clear_sensor</rosparam>
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5 changes: 4 additions & 1 deletion strands_movebase/strands_movebase_params/costmap_common_params.yaml
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Expand Up @@ -20,6 +20,7 @@ footprint_padding: 0.0001

map_layer:
map_topic: /map
# unknown_cost_value: 100

no_go_layer:
map_topic: /no_go_map
Expand All @@ -38,7 +39,9 @@ obstacle_layer:
z_voxels: 6
unknown_threshold: 6
mark_threshold: 0


track_unknown_space: true

observation_sources: laser_obstacle laser_clearing point_cloud_sensor clear_sensor cliff_sensor

laser_obstacle: {sensor_frame: base_laser_link, data_type: LaserScan, topic: /move_base/scan_obstacle, marking: true, clearing: false}
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3 changes: 3 additions & 0 deletions strands_movebase/strands_movebase_params/nav_fn_ros.yaml
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@@ -0,0 +1,3 @@
#see http://wiki.ros.org/navfn for param description
NavfnROS:
allow_unknown: false