update turtlebot3 waffle default radius, use global costmap/footprint…

… for collision checker
ros-navigation · Jun 26, 2019 · 8ab347d · 8ab347d
1 parent 6bcac32
commit 8ab347d
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/nav2_bringup/launch/nav2_params.yaml b/nav2_bringup/launch/nav2_params.yaml
@@ -100,7 +100,7 @@ local_costmap:
       width: 3
       height: 3
       resolution: 0.05
-      robot_radius: 0.17
+      robot_radius: 0.22
       inflation_layer.cost_scaling_factor: 3.0
       obstacle_layer:
         enabled: True
@@ -122,7 +122,7 @@ global_costmap:
   global_costmap:
     ros__parameters:
       use_sim_time: True
-      robot_radius: 0.17
+      robot_radius: 0.22
       obstacle_layer:
         enabled: True
       always_send_full_costmap: True

diff --git a/nav2_motion_primitives/src/main.cpp b/nav2_motion_primitives/src/main.cpp
@@ -26,9 +26,9 @@ int main(int argc, char ** argv)
   auto motion_primitives_node = rclcpp::Node::make_shared("motion_primitives");
 
   motion_primitives_node->declare_parameter(
-    "costmap_topic", rclcpp::ParameterValue(std::string("local_costmap/costmap_raw")));
+    "costmap_topic", rclcpp::ParameterValue(std::string("global_costmap/costmap_raw")));
   motion_primitives_node->declare_parameter(
-    "footprint_topic", rclcpp::ParameterValue(std::string("local_costmap/published_footprint")));
+    "footprint_topic", rclcpp::ParameterValue(std::string("global_costmap/published_footprint")));
 
   auto spin = std::make_shared<nav2_motion_primitives::Spin>(
     motion_primitives_node);