Costmap configuration

I created a new file in the itesm_demo package in order to include all of the configuration files related to the configuration of move_base.

$roscd itesm_demo
$mkdir config
$cd config

I created four files in this folder. The description of each of them follows:

1. costmap_common_params.yaml: Parameters that are common both for local and global costmaps:


obstacle range: determines the maximum range sensor reading that will result in an obstacle being put into the costmap.
raytrace range: determines the range to which we will raytrace freespace given a sensor reading.

footprint: in the case of specifying the footprint, the center of the robot is assumed to be at (0.0, 0.0) and both clockwise and counterclockwise specifications are supported.

Inflation radius: The inflation radius should be set to the maximum distance from obstacles at which a cost should be incurred.

2. global_costmap_params.yaml: long term plans over the entire environment


global frame: defines what coordinate frame the costmap should run in
robot base frame: defines the coordinate frame the costmap should reference for the base of the robot.
static map: determines whether or not the costmap should initialize itself based on a map served by the map_server.

3. local_costmap_params.yaml: local planning and obstacle avoidance

Rolling window: parameter to true means that the costmap will remain centered around the robot as the robot moves through the world.

4. base_local_planner_configuration.-yaml: The base_local_planner is responsible for computing velocity commands to send to the mobile base of the robot given a high-level plan