此更改更改了imu数据处理方式，使得静止状态yaw不会发生偏移，后续应优化陀螺仪数据处理：低通滤波会导致相位延迟、滑动窗口会导致数据有微量误差。
无法避免运动过程中的yaw偏移。 后续应在运动时也加上零漂偏移
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232
src/planner/config/planner.yaml.bak-20260623-160129
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232
src/planner/config/planner.yaml.bak-20260623-160129
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# ============================================================================
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# planner.yaml — Nav2 minimal global planning stack
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# 节点: slam_toolbox + planner_server + global_costmap + local_costmap
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# 来源: gc_navigation2_slamtoolbox (slam + nav params) 剪裁
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# ============================================================================
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# ---------------------------------------------------------------------------
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# slam_toolbox — online_async 实时建图 → 发布 /map + map→odom transform
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# 来源: slam_toolbox_mapping.yaml
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# ---------------------------------------------------------------------------
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slam_toolbox:
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ros__parameters:
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use_sim_time: False
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# Solver
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS base
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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mode: mapping
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use_map_saver: true
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# Debug & performance
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debug_logging: false
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throttle_scans: 1
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transform_publish_period: 0.02
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map_update_interval: 3.0
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resolution: 0.05
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min_laser_range: 0.15
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max_laser_range: 20.0
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.0
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stack_size_to_use: 40000000
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enable_interactive_mode: true
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# Mapping
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.1
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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# Loop closure
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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loop_search_maximum_distance: 3.0
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# Scan matching
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# Matcher params
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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min_pass_through: 2
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occupancy_threshold: 0.1
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scan_queue_size: 20
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# ---------------------------------------------------------------------------
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# planner_server — SmacPlannerHybrid 全局路径规划 → /plan
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# 来源: gc_navigation_slam.yaml planner_server section
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# ---------------------------------------------------------------------------
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planner_server:
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ros__parameters:
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planner_plugins:
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- GridBased
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use_sim_time: False
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GridBased:
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plugin: nav2_smac_planner/SmacPlannerHybrid
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downsample_costmap: False
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downsampling_factor: 1
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tolerance: 0.25
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allow_unknown: True
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max_iterations: 100000
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max_on_approach_iterations: 1000
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max_planning_time: 5.0
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motion_model_for_search: REEDS_SHEPP
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angle_quantization_bins: 72
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analytic_expansion_ratio: 2.0
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analytic_expansion_max_length: 3.0
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minimum_turning_radius: 0.35
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reverse_penalty: 1.3
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change_penalty: 0.0
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non_straight_penalty: 0.0
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cost_penalty: 5.0
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retrospective_penalty: 0.015
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lookup_table_size: 5.0
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cache_obstacle_heuristic: False
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viz_expansions: False
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smooth_path: True
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smoother:
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max_iterations: 1000
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w_smooth: 0.4
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w_data: 0.2
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tolerance: 1.0e-10
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do_refinement: True
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refinement_num: 4
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planner_server_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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# ---------------------------------------------------------------------------
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# global_costmap — 全局代价地图（订阅 /scan + /map）
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# 来源: gc_navigation_slam.yaml global_costmap section
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# ---------------------------------------------------------------------------
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global_costmap:
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global_costmap:
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ros__parameters:
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use_sim_time: False
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transform_tolerance: 2.0
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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footprint: '[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]'
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footprint_padding: 0.02
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resolution: 0.05
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track_unknown_space: True
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plugins:
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- static_layer
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- obstacle_layer
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- inflation_layer
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obstacle_layer:
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plugin: nav2_costmap_2d::ObstacleLayer
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: LaserScan
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: nav2_costmap_2d::StaticLayer
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map_subscribe_transient_local: True
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inflation_layer:
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plugin: nav2_costmap_2d::InflationLayer
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cost_scaling_factor: 3.0
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inflation_radius: 0.2
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always_send_full_costmap: True
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global_costmap_client:
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ros__parameters:
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use_sim_time: False
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global_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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# ---------------------------------------------------------------------------
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# local_costmap — 局部代价地图（obstacle_detector 可注入）
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# 来源: gc_navigation_slam.yaml local_costmap section
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# ---------------------------------------------------------------------------
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 2.0
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transform_tolerance: 2.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: False
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rolling_window: True
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width: 3
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height: 3
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resolution: 0.05
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footprint: '[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]'
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footprint_padding: 0.02
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plugins:
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- voxel_layer
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- inflation_layer
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inflation_layer:
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plugin: nav2_costmap_2d::InflationLayer
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cost_scaling_factor: 3.0
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inflation_radius: 0.2
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voxel_layer:
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plugin: nav2_costmap_2d::VoxelLayer
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enabled: True
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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: LaserScan
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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local_costmap_client:
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ros__parameters:
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use_sim_time: False
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local_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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