hi, All,
I am using an LMS100 for localization and one hokuyo URG laser for local path planing.
question is, how do I specify which one goes where?
I am using Navigational Stack and in the costmap_common_params.yaml, following parameters are set
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: base_laser, data_type: PointCloud, topic: point_cloud, marking: true, clearing: true}
how do I specify which one is for AMCL which one is for local path plan?
regards
Ray
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