- {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
# Can disable sensor layer if gmapping is fast enough to update scans
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
# Can disable sensor layer if gmapping is fast enough to update scans
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
static_layer:
# Can pull data from gmapping, map_server or a non-rolling costmap
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
static_layer:
# Can pull data from gmapping, map_server or a non-rolling costmap
resize_to_boundary: false
frontier_travel_point: middle
# set to false for gmapping, true if re-exploring a known area
resize_to_boundary: false
frontier_travel_point: middle
# set to false for gmapping, true if re-exploring a known area