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Added RivalLayer and finished GameElementLayer

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pimpest
2026-03-26 18:33:32 +01:00
parent 8ba8585a29
commit 3d8dd3127d
12 changed files with 426 additions and 24 deletions
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12
toid_navigation/params/toid_costmap_params.yaml
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@@ -1,14 +1,14 @@
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
update_frequency: 10.0
publish_frequency: 10.0
global_frame: map
robot_base_frame: base_link
robot_radius: 0.17
resolution: 0.01
track_unknown_space: false
rolling_window: false
plugins: ["static_layer", "inflation_layer"]
plugins: ["static_layer", "game_element_layer", "rival_layer", "inflation_layer"]
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
@@ -16,6 +16,12 @@ global_costmap:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.23
game_element_layer:
plugin: "toid::GameElementLayer"
extra_elements: ["blue"]
rival_layer:
plugin: "toid::RivalLayer"
rival_size: 0.15
always_send_full_costmap: True
lifecycle_manager: