Under exploration node/config, we are able to find costmap.yaml to define parameters for global costmap.
We were wondering if we could define local costmap with hector_navigation as well. Could we simply append local_costmap inside costmap.yaml ?
Hope to hear your expertise on that.
Thank you,
-- Luke
ps: there is a comment "#Investigate whit this actually does" for "cost_scaling_factor". To our knowledge, the cost_scaling_factor is the decay rate of 'the cost to hit obstacle'. Higher value means decaying faster from robot center to robot's inflation outer, giving better chance to pass narrow aisle, but results a narrower tolerance of occlusion. Correct us if we mis-understood it.
Dear hector_navigation friends,
Under exploration node/config, we are able to find costmap.yaml to define parameters for global costmap. We were wondering if we could define local costmap with hector_navigation as well. Could we simply append local_costmap inside costmap.yaml ?
Hope to hear your expertise on that.
Thank you, -- Luke
ps: there is a comment "#Investigate whit this actually does" for "cost_scaling_factor". To our knowledge, the cost_scaling_factor is the decay rate of 'the cost to hit obstacle'. Higher value means decaying faster from robot center to robot's inflation outer, giving better chance to pass narrow aisle, but results a narrower tolerance of occlusion. Correct us if we mis-understood it.