config_map_utility_stretch.yaml

# AUTHOR: Neset Unver Akmandor (NUA)
#         Gary M. Lvov (GML)
#         Hongyu Li (LHY)
# E-MAIL: akmandor.n@northeastern.edu
#         lvov.g@northeastern.edu
#         li.hongyu1@northeastern.edu

world_frame_name: "world"
map_name: "tentabot"
map_frame_name: "/base_link"
map_resolution: 0.1
map_server_dt: 0.1

local_map_flag: true
dynamic_flag: true
skip_cnt_reset_sensor_range: 1

sensor_pc2_msg_name: "/camera/depth/color/points"
sensor_pc2_direction: "z"
sensor_pc2_min_range: 0.3   # RealSense D435i https://www.intelrealsense.com/depth-camera-d435i/
sensor_pc2_max_range: 3.0   # https://www.roscomponents.com/en/cameras/281-intel-realsense-d435.html
sensor_pc2_max_yaw: 1.51    # In radians original 1.51
sensor_pc2_max_pitch: 1.01  # original 1.01

sensor_laser_msg_name: "/scan"
sensor_laser_max_range: 12.0

# Based on physical parameters of robot (slightly larger)
crop_x_min: -0.35
crop_x_max: 0.1             # https://hello-robot.com/product - Stretch RE1 Specification
crop_y_min: -0.20
crop_y_max: 0.20
crop_z_min: -0.0
crop_z_max: 1.45

# Based on max sensor range of robot
bbx_x_min: -10
bbx_x_max: 10
bbx_y_min: -10
bbx_y_max: 10
bbx_z_min: 0.0
bbx_z_max: 3.0

filter_ground: true
filter_ground_threshold: 0.1