Merge pull request #7 from logivations/add_footprint_parameter

make params have default value && change agv footprint

Author: andriimaistruk

nav2_bringup/bringup/params/forklift_params.yaml

@@ -160,9 +160,9 @@ planner_server:
       angle_quantization_bins: 72       # For SE2 node: Number of angle bins for search, must be 1 for 2D node (no angle search)
       minimum_turning_radius: 0.20      # For SE2 node & smoother: minimum turning radius in m of path / vehicle
       reverse_penalty: 2.1              # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1
-      change_penalty: 0.20              # For SE2 node: penalty to apply if motion is changing directions, must be >= 0
+      change_penalty: 0.5              # For SE2 node: penalty to apply if motion is changing directions, must be >= 0
       non_straight_penalty: 1.05        # For SE2 node: penalty to apply if motion is non-straight, must be => 1
-      cost_penalty: 1.8                 # For SE2 node: penalty to apply to higher cost zones
+      cost_penalty: 1.2                 # For SE2 node: penalty to apply to higher cost zones
 
       smoother:
         smoother:
@@ -199,7 +199,7 @@ global_costmap:
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.22
+      footprint: "[[1.8, 0.4], [1.8, -0.4], [-0.2, -0.4], [-0.2, 0.4]]"
       map_topic: /costmap_node/map
       track_unknown_space: false
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]