From 41b523aba24c6eaff114bd211edf48403678a5aa Mon Sep 17 00:00:00 2001 From: Franco Cipollone <53065142+francocipollone@users.noreply.github.com> Date: Thu, 8 Aug 2024 16:50:37 -0300 Subject: [PATCH] Adds map to the office world. (#69) Signed-off-by: Franco Cipollone --- andino_gz/config/nav2_params.yaml | 4 ++-- andino_gz/maps/office/office.pgm | Bin 0 -> 196519 bytes andino_gz/maps/office/office.yaml | 8 ++++++++ docker/requirements.txt | 1 + 4 files changed, 11 insertions(+), 2 deletions(-) create mode 100644 andino_gz/maps/office/office.pgm create mode 100644 andino_gz/maps/office/office.yaml diff --git a/andino_gz/config/nav2_params.yaml b/andino_gz/config/nav2_params.yaml index 09d7aad..16b82b8 100644 --- a/andino_gz/config/nav2_params.yaml +++ b/andino_gz/config/nav2_params.yaml @@ -201,7 +201,7 @@ local_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.55 + inflation_radius: 0.3 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True @@ -259,7 +259,7 @@ global_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.55 + inflation_radius: 0.30 always_send_full_costmap: True map_server: diff --git a/andino_gz/maps/office/office.pgm b/andino_gz/maps/office/office.pgm new file mode 100644 index 0000000000000000000000000000000000000000..d835d435e2cc0826fae9bb24b3aef611696633b8 GIT binary patch literal 196519 zcmeI5VUqMF4u10X;pP|NZ^v zzkmJnufP8N&!7MN{r8{W-yhYB)gG&IGR$9Gs{&3MmvaC8IBzbmyR0?O*Ig@8^-X-A zq&uJR6_(VlU@2SbZ0XHntH%4ew(|4yQM}yXeS1Hj^&e{foAYsZPL}0A_euiPb-uN- zs~vRWJ@?aUC$n;*jB5Yy{9Z_I^cAXvBBC$caZ{kr&!gJ;%azxlKEWaYARQs-vktAg z{!2aDHAk7g&${wfjae4^Tvxd2_byc)v96>{A7Y>Nj6m$$O&Lz?`(WQEXLV-!wD*06 zD=$tR9$nDa82e=VKF|mHcHmL6|Gtlo=<@aIIV~Xe?GWs~@54#=ICEyE@1uO??Y{5B zdV7RV+kd-2(my%fsRQ(ZzWlV{th_C!4$uesbm(h&zYp|*J{|fH`y!HBZgJ`eFuKrG z|EUGg*MeJQGc$cSbwtjb?iTcg*oSvqtnmeXpwF7Q&>!dv^kLr@xUfmhOdo#NVZ%tj zUS_6G`_zHh*N?OFmO&p@-g7c6azP*Hv*7H!56}nt&dIRI1%05;g0u5JW~NX3%!^aU zIV1gYL0^b{_+3Xo&dyt&nLfPZa_-Z4azS5+eOP&|xvl?5QSj0zDec&YmDilUiSg5> z53vvQ)kjv)XHAQCf7tg0+7bJ->AGqU^nt!BM*5Y5KG4^XuB(pJGg0(6yEPU_vt*jpf5}% z?E9>_1%05;nz_&)=nM4WQwD(xn-u5^^kL<-VJ`Fn`aoZx!8!%{K%X^pp+C^Kr;niq z-tP+#HK!PQ2R99p!ux&AZXd)D^o6N}Q-?K_pbzxznR6Qo!wd99^!@&Zj8f_$`@Zu3 ziM}_8pf4ciR^ElZ8UV+puME|`G(3Kq+SkjaMSz07AiAfI)C^hq)EnrdkK0~e68u14 z0PIU&4S|Ex7oMtfiq?zf3-kr=9O!e3hLV#M=vzbqeJ60VWX1H+l+LyT`aqxRH!+;i zmjw{?y_~)d-`_{!?(9lJAdz~xA&=)q2Jf>Dg?Vw$$@tYWu<|NNS%%~2P!j!`zN3vh zLJFa(Hjg@166mZM(Ies15hN|caa5{K^az4-2i0g*RE#)N39 zrwlIM-a0%>Mckt*2OGq`7{XYfqg-R(snb`+?;yt5^ci|p7W)pG&UK?tU+3q?${Phg z!&##4TF@6cGu%c?zPj|GL0Rmx8)q1?QVR41+@h43S7qTGu}^6#)HEY=RRmb^){H*) zSEzyu^wnUaRL6`yL$889B{;e_1Nx#kX*f&Nor`^668%7*L_OHb6aalP{a`Io0Q5=JgRM*f&?nOm))ECkpF};_ z$`k;7GW}pJQ2_Kw)Pt=|0njJY57rU|K%YcC*vb?DeKP%EEl~jUNz{X_Oaag*(+}1X z1wfxfJ=n?=0DUt3U@cJq^hwl%txN&XC({qs5(Pk?L_OHb6aalP{a`Io0Q5=JgRM*f z&?nOm))ECkpF};_$`k;7GW}Gn=`Si(8k(&U`eFcFrwZ7)^0a$aCjE`Q`|tCie|^%Y zJ=ApXE>}*kKD|ELKD}ny{*Zi$Lxt_3ivRj4dWmu=$LH?zDeW_9b}Z#Cv84U0Z-q*h zyrm8LS`3#*Kb8_-{Cy$MY}Z=8&)SOIPcpai1od_{+TCyrk{3_gX9V6+cu5toqfhqj zk?F`=axS0NPmz|EVbh|(r9Uo$1*3S0)h&Zmv$=fQA?e!-w@;HSZoo8VzY?y?p}+Mx z`^ro1Qj=D_HOkY^Wl8ewEXnH?U^DmD?e4ks2LrE*s(UT?1D08@{arpSxuU~$?appB z+|$&z&8hosRiM|UKQ54B6pI}DeO6)OV!XoE&&|oF7yb4sUIJTf>&`>`kxJak@2&Px zl6sP1HmH*HuadE0L}zb*zFsoumC$o9{@ne=(C7YcRw_eaHNpeR(Z_0?Dofl7`q*-_ z4csP+ZKGvCY*hD7sIohL1$}H)#xbCnc-KWhRrmg2`eYmWY6b6dbD`gxW8c8^HH6xN z&ZVLk(^v2Rl7LNRh<&SUk`030Bx&+-+34ojSFfG<%3D9QvceUmpszwC?J6XC^{xf< zW!}52R#4l03hmu|>KK?l!!5~sW1peO@noTJRy}jgV_*Hy;^$)Dzn8xH=))HE$^i7O z3cZ&;!zmuq$fEDV*du;BlDO4S7|Aeij2>T^n-kdgWj6DSO+mBxo8f!uyK(NYVjorB zyjA^E;#S1IYMGlWBKF-M`(FIJj)sWRjCy3qihbt$K09GvOrPNb6TwHHf2!~O!7DH5 zi^;IK2YrjmFQ(6Kfk}WKn?6HfoDl67|16d`;e`y&MI~nnn+GBtZrA9i;4XgHuN)^tHg==%E+KzJ`d> zC~{&(;jB8IA@*gaNwtEB{`Y4f_GO%k*k=IeH1D_|_GP9CVqe=d!OFYp=7ea!KwmR` z^}9~<*jGQawxu?n1Ny{)tf2wKzEw1= zybbh7P0Z;rw|?$RVU#N)G@ z>iKI6R#k5|(^nsP5&O>2}!}OICU5hBRgW{)6pYtleee%Jyw zbjKdwVi1Su!!Ryyl80&>#T{l1>zUdxyVDoDHE|T^Q*&lhLoE@dsiPAk=ll8qLzPe3 zC}$n%N;^B2AHz&qyWCfMX*@}e$h4q3LtTj^u1ybU8o?92LnjDlNNUN@VoXD(vj6JuYx88Vv|wCk#; z53%nYziI`|{9519t+9_2&)h1?);U^v(*}tD++{Z{<6-7Tbe_*vr5=v%H5+`YHYQ%| zqfMg!Z1VbpKBDYCpS=B`WPHVLO{##tSTfuD+hd;_K;}9KK_F%7?XwRy@h9igX!Zd5 z(uX=~F!Y^s-EHHGL(^epiN;l|`!$T7C4wtz(mi)n;oA-+(%QX*s(ZG>;C46BGxr)~ zmv(PmdG}E(Ngp3KDL&7LjdorlppM0$FV@5Q{!aRw_i5MWg3S6aWw^`d#6nO>LeH+! zS$Pyx(rAX*w^Q(j9Z5L!`!)OGIDGBs5o_8DA>6eu@AAYGh&72LEq%`rEg*uyggdcqtCq2 z?=rCR4oBbAbLUD;H@6N~T>nsbxH11t+o5;XP5e+3-9LKe^}jX=o~(DvVpCsVR?{Dj z(!hM(==5*ZKAgU551!ZX_?;JZ$hGaQ!vnN73Hn-G z3Si|`kr9nFDFFJKWP_240$6!fWJDuP3V^;Q*xooC? 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