config_map_utility_turtlebot3.yaml

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

world_frame_name: "world"
map_name: "tentabot"
map_frame_name: "turtlebot3_0/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: "/turtlebot3_0/d435_cam1/camera/depth/color/points"
sensor_pc2_direction: "z"
sensor_pc2_min_range: 0.3
sensor_pc2_max_range: 12.0
sensor_pc2_max_yaw: 0.9
sensor_pc2_max_pitch: 0.6

sensor_laser_msg_name: "/turtlebot3_0/scan"
sensor_laser_max_range: 4.0

# Based on physical parameters of robot
# NUA: These paremeters is set based on Turtlebot2!!!
#      (To use the policy trained in simulation on actual Turtlebot2.
#      Since there is no Gazebo simulation working for Turtlebot2 in ROS Noetic.)
crop_x_min: -0.2
crop_x_max: 0.25
crop_y_min: -0.2
crop_y_max: 0.2
crop_z_min: -0.0
crop_z_max: 0.6

# Based on max sensor range of robot
bbx_x_min: -10.0
bbx_x_max: 10.0
bbx_y_min: -10.0
bbx_y_max: 10.0
bbx_z_min: 0.0
bbx_z_max: 3.0

filter_ground: true
filter_ground_threshold: 0.05