Range Sensor Parameters

This costmap layer implements a plugin that processes sonar, IR, or other 1-D sensors for collision avoidance.

<range layer> is the corresponding plugin name selected for this type.

<range layer>.enabled:

Type	Default
bool	True

Description

Whether it is enabled.

<range layer>.topics:

Type Default
vector<string>	[“”]

Description

Range topics to subscribe to.

<range layer>.phi:

Type	Default
double	1.2

Description

Phi value.

<range layer>.inflate_cone:

Type	Default
double	1.0

Description

Inflate the triangular area covered by the sensor (percentage).

<range layer>.no_readings_timeout:

Type	Default
double	0.0

Description

If zero, this parameter has no effect. Otherwise if the layer does not receive sensor data for this amount of time, the layer will warn the user and the layer will be marked as not current.

<range layer>.clear_threshold:

Type	Default
double	0.2

Description

Probability below which cells are marked as free.

<range layer>.mark_threshold:

Type	Default
double	0.8

Description

Probability above which cells are marked as occupied.

<range layer>.clear_on_max_reading:

Type	Default
bool	False

Description

Whether to clear the sensor readings on max range.

<range layer>.input_sensor_type:

Type	Default
string	ALL

Description

Input sensor type is either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range).