Obstacle detection max range increased

Signed-off-by: Piotr Jaroszek <[email protected]>

kraken_nav/o3de_kraken_nav/launch/config/navigation_multi_params.yaml

@@ -129,9 +129,9 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 20.0
+          raytrace_max_range: 60.0
           raytrace_min_range: 0.0
-          obstacle_max_range: 20.0
+          obstacle_max_range: 60.0
           obstacle_min_range: 0.0
       always_send_full_costmap: True
   local_costmap_client:
@@ -168,9 +168,9 @@ global_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 40.0
+          raytrace_max_range: 60.0
           raytrace_min_range: 0.0
-          obstacle_max_range: 40.0
+          obstacle_max_range: 60.0
           obstacle_min_range: 0.0
       inflation_layer:
         enabled: True

kraken_nav/o3de_kraken_nav/launch/config/navigation_params.yaml

@@ -129,9 +129,9 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 20.0
+          raytrace_max_range: 60.0
           raytrace_min_range: 0.0
-          obstacle_max_range: 20.0
+          obstacle_max_range: 60.0
           obstacle_min_range: 0.0
       always_send_full_costmap: True
   local_costmap_client:
@@ -168,9 +168,9 @@ global_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 40.0
+          raytrace_max_range: 60.0
           raytrace_min_range: 0.0
-          obstacle_max_range: 40.0
+          obstacle_max_range: 60.0
           obstacle_min_range: 0.0
       inflation_layer:
         enabled: True

kraken_nav/o3de_kraken_nav/launch/navigation.launch.py

@@ -58,7 +58,7 @@ def generate_launch_description():
             'min_height': 0.1,
             'max_height': 5.0,
             'range_min': 0.2,
-            'range_max': 20.0
+            'range_max': 60.0
         }],
         remappings=[
             ('/cloud_in', '/pc'),

kraken_nav/o3de_kraken_nav/launch/navigation_multi.launch.py

@@ -215,7 +215,7 @@ def generate_launch_description():
             'min_height': 0.1,
             'max_height': 5.0,
             'range_min': 0.2,
-            'range_max': 20.0
+            'range_max': 60.0
         }],
         remappings=[
             ('cloud_in', 'pc'),