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).