global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 1.0 map_type: costmap | local_costmap: global_frame: odom robot_base_frame: base_link width: 5.0 height: 5.0 resolution: 0.01 |
map_type: costmap obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[0.416,0.318], [0.416, −0.318], [−0.416, −0.318], [−0.416, 0.318]] footprint_inflation: 0.05 observation_sources: scan scan: {data_type: LaserScan, topic: /scan, marking:true,clearing:true, expected_update_rate: 0} | TrajectoryPlannerROS: max_vel_x: 0.45 min_vel_x: 0.1 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 acc_lim_theta: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: true escape_vel: −0.1 y_vels: [−0.3, −0.1, 0.1, −0.3] |