1 # must match incoming static map
3 robot_base_frame: base_footprint
9 track_unknown_space: true
12 - {name: static_layer, type: 'costmap_2d::StaticLayer'}
13 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
14 # Can disable sensor layer if gmapping is fast enough to update scans
15 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
16 - {name: range_layer, type: "range_sensor_layer::RangeSensorLayer"}
17 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
20 # Can pull data from gmapping, map_server or a non-rolling costmap
22 # map_topic: move_base/global_costmap/costmap
23 subscribe_to_updates: true
26 resize_to_boundary: false
27 frontier_travel_point: middle
28 # set to false for gmapping, true if re-exploring a known area
29 explore_clear_space: false