From: Erik Andresen <erik@vontaene.de>
Date: Tue, 25 Feb 2020 06:22:42 +0000 (+0100)
Subject: global_costmap:
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=2df437a779847070d89c37f8f79776acc5446193;p=ros_wild_thumper.git

global_costmap:

overwrite with track_unknown_space=true for obstacle layer
---

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 9c93210..5ff675a 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -5,7 +5,6 @@ obstacle_layer:
   obstacle_range: 2.5
   raytrace_range: 3.0
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
-  combination_method: 0 # overwrite
 
 inflation_layer:
   inflation_radius: 0.20
diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index af07509..3e1fd1d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -12,3 +12,7 @@ global_costmap:
     # low slope decay curve
     inflation_radius: 1.75
     cost_scaling_factor: 2.58
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true