publish_frequency: 2.0
static_map: false
rolling_window: true
- width: 10.0
- height: 10.0
+ width: 3.0
+ height: 3.0
resolution: 0.05
plugins:
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- #- {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"}
+ - {name: range_layer, type: "range_sensor_layer::RangeSensorLayer"}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
-
- sonar_layer:
- topics: ["range_forward", "range_backward", "range_left", "range_right"]
- no_readings_timeout: 1.0