资 源 简 介
The range_sensor_layer is a plugin for the LayeredCostmap in costmap_2d, that uses the sensor_msgs/Range message. It is intended for use with sonar and infrared data.
The Range messages are integrated into the costmap by using a probabilistic model.
Cells with a probability higher than the mark_threshold are marked as lethal obstacles in the master costmap. Cells with a probability lo
