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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
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I want to change the range of the sensor. #47

Open romaster93 opened 9 months ago

romaster93 commented 9 months ago

I am using a LiDAR sensor tilted 30 degrees forward for ground recognition. Therefore, I want to select the sensor range as KLidar and adjust the angle in the GBPlanner. Can I make this change in param.cc?

MihirDharmadhikari commented 9 months ago

Hi @romaster93 ,

Yes, you can make these changes from the gbplanner_config.yaml itself. To set the orientation of the sensor, you can use this parameter. The order is roll, pitch, yaw. Similarly, the range can be set here.

Best, Mihir