无人机膨胀半径设置

[Poaos]

您好，我最近把FALCON迁移到Gazebo下面了，Gazebo中无人机很容易和障碍物发生膨胀，不知道是否有关于无人机膨胀半径的参数设置呢？ 像是FUEL中也是有膨胀半径设置的，FALCON把各个模块的参数都拆开之后，我找了一圈也没找到关于膨胀半径设置的内容。只在fast-planner.yaml中找到了个用于B样条轨迹优化的 safe_distance ，但是感觉这个可能也不是膨胀半径？ 劳烦您解答一下~

[yzhangec]

The configuration is decomposed into individual modules for unit testing convenience. If you want to inflate the occupancy, please change voxel_mapping config sdf_cutoff_distance_scale. If you want to let the trajectory planner to keep a larger distance from obstacle, please increase the safe_distance mentioned.

[Poaos]

thanks!