Ross Symons, CEO of Big Ant Studios, publicly discussed this strategy, stating that they turned on "their own idea of piracy protection for the game, which involves making the whole screen flash white between matches." This tactic has drawn many pirates to support forums, seeking help for what they believe is a technical glitch, unaware they've essentially reported themselves.
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local_planner: "TebLocalPlannerROS"
parameter_name_linear: "max_vel_x"
parameter_name_angular: "max_vel_theta"min_particles: 50
max_particles: 1000 max_vel_x: 0.40 #0.25
max_vel_x_backwards: 0.4 #0.2
max_vel_theta: 1.0 #0.5
acc_lim_x: 0.5 # 0.2
acc_lim_theta: 0.6283 #0.5, 0.26 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "polygon" #"circular"
radius: 0.38 # for type "circular"
#line_start: [-0.3, 0.0] # for type "line"
#line_end: [0.3, 0.0] # for type "line"
#front_offset: 0.2 # for type "two_circles"
#front_radius: 0.2 # for type "two_circles"
#rear_offset: 0.2 # for type "two_circles"
#rear_radius: 0.2 # for type "two_circles"
vertices: [ [0.26, 0.26], [0.26, -0.26], [-0.26, -0.26], [-0.26,0.26] ] # for type "polygon" xy_goal_tolerance: 0.2 #0.2
yaw_goal_tolerance: 0.1571 min_obstacle_dist: 0.05 inflation_dist: 0.0
dynamic_obstacle_inflation_dist: 0.05
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 0.1
obstacle_poses_affected: 25 #30
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5footprint: [ [0.26, 0.26], [0.26, -0.26], [-0.26, -0.26], [-0.26,0.26] ]
# robot_radius: 0.38 #0.38
# footprint_padding: 0.05
map_type: voxel
#track_unknown_space: true
obstacle_layer:
origin_z: -0.1
z_resolution: 1.8 #1.5 This must be higher than the z coordinate of the mounted lidar
z_voxels: 1
obstacle_range: 10.0 #10.0
raytrace_range: 15.0 #15.0
observation_sources: laser_scan_sensor
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
laser_scan_sensor: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0.00, max_obstacle_height: 3.00}
#point_cloud_sensor: {sensor_frame: lslidar_c16_frame, data_type: PointCloud2, topic: /lslidar_c16/lslidar_point_cloud, marking: true, clearing: true}
lowbstacle_layer:
origin_z: -0.1
z_resolution: 1.8
z_voxels: 1
obstacle_range: 3.5 #if beyond this threshold, then will not mark as obstacle
raytrace_range: 5.0 #5.0 Lower this value to detect nearer obstacles with better accuracy
observation_sources: obs_cloud mock_scan #butt_scan1 butt_scan2
publish_voxel_map: true
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
obs_cloud:
data_type: PointCloud2
topic: /obstacles_cloud
marking: true
clearing: true
min_obstacle_height: 0.01
max_obstacle_height: 0.99
mock_scan:
data_type: LaserScan
topic: /obstacles_scan
marking: false
clearing: true
min_obstacle_height: 0.00
max_obstacle_height: 1.00
inf_is_valid: true
inflation_layer:
enabled: true
cost_scaling_factor: 6.0 #added in by John
inflation_radius: 0.39 #0.45 #Minimum value: 0.379
dynamic_obstacle_layer:
enabled: false
map_tolerance: 0.2
footprint_radius: 0.5
range: 2.0 plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: lowbstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: dynamic_obstacle_layer, type: "dynamic_obstacle_layer::DynamicLayer"} # Uncomment to apply dynamic_obstacle_layer
- {name: inflation_layer, type: "costmap_2d::InflationLayer"} plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: lowbstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
# - {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}
inflation_layer:
enabled: true
cost_scaling_factor: 6.0 #added in by John
inflation_radius: 0.39 #0.45 #Minimum value: 0.379obstacle_layer:
origin_z: -0.1
z_resolution: 1.8 #1.5 This must be higher than the z coordinate of the mounted lidar
z_voxels: 1
obstacle_range: 10.0 #10.0
raytrace_range: 15.0 #15.0
observation_sources: laser_scan_sensor
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
laser_scan_sensor: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0.00, max_obstacle_height: 3.00}
#point_cloud_sensor: {sensor_frame: lslidar_c16_frame, data_type: PointCloud2, topic: /lslidar_c16/lslidar_point_cloud, marking: true, clearing: true}lowbstacle_layer:
origin_z: -0.1
z_resolution: 1.8
z_voxels: 1
obstacle_range: 3.5 #if beyond this threshold, then will not mark as obstacle
raytrace_range: 5.0 #5.0 Lower this value to detect nearer obstacles with better accuracy
observation_sources: obs_cloud mock_scan #butt_scan1 butt_scan2
publish_voxel_map: true
track_unknown_space: true
lethal_cost_threshold: 100
unknown_cost_value: 255
obs_cloud:
data_type: PointCloud2
topic: /obstacles_cloud
marking: true
clearing: true
min_obstacle_height: 0.01
max_obstacle_height: 0.99
mock_scan:
data_type: LaserScan
topic: /obstacles_scan
marking: false
clearing: true
min_obstacle_height: 0.00
max_obstacle_height: 1.00
inf_is_valid: true