Merge pull request #48 from colombraf/iron

Fixed navigation to unknown space and added two new locations
hsp-iit · Nov 16, 2023 · 893e261 · 893e261
2 parents 6bcbbf6 + a192e45
commit 893e261
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diff --git a/app/maps/locations.ini b/app/maps/locations.ini
@@ -47,6 +47,8 @@ erzelli_room_3 				erzelli6 			1.39 -0.97 152.0
 erzelli_corridor_center 	erzelli6 			2.37 4.36 141.0 
 erzelli_corridor_bathrooms 	erzelli6 			-3.89 4.64 117.7
 erzelli_corridor_sofas 		erzelli6 			-14.0 -7.76 141.0
+erzelli_sensorized_room 	erzelli6 			0.64 -1.31 170.0
+erzelli_sofa_area    		erzelli6 			-14.0 -7.76 141.0
 dummy_home                  dummy               0.0 0.0 0.0
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diff --git a/app/navigation2/conf/nav2_params.yaml b/app/navigation2/conf/nav2_params.yaml
@@ -292,7 +292,7 @@ global_costmap:
       use_sim_time: true
       robot_radius: 0.3
       resolution: 0.05
-      track_unknown_space: false
+      track_unknown_space: true
       #unknown_cost_value: 100
       always_send_full_costmap: true
       trinary_costmap: true