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: bool Default: true: Whether it is enabled.

`<range layer>.topics`

Type: vector<string> Default: [""]

Range topics to subscribe to.

Relative topics will be relative to the node's parent namespace. For example, if you specify topics: [range1, /range2] in the range_layer of a local_costmap and you launch your bringup with a tb4 namespace:

User chosen namespace is tb4.
User chosen topics are [range1, /range2].
Topic will be remapped to /tb4/range1, without local_costmap, and /range2.
Use global topics such as /range2 if you do not wish the node namespace to apply.

`<range layer>.phi`

Type: double Default: 1.2: Phi value.

`<range layer>.inflate_cone`

Type: double Default: 1.0: Inflate the triangular area covered by the sensor (percentage).

`<range layer>.no_readings_timeout`

Type: double Default: 0.0: 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: double Default: 0.2: Probability below which cells are marked as free.

`<range layer>.mark_threshold`

Type: double Default: 0.8: Probability above which cells are marked as occupied.

`<range layer>.clear_on_max_reading`

Type: bool Default: false: Whether to clear the sensor readings on max range.

`<range layer>.input_sensor_type`

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