use new inflation_layer in layered costmap2d

[ros_roboint.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 3a208225af6c8a59cb317beaffc63838a3813d26..33c1f85e6a5d638d2424611b3da937329d2bd64f 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -6,3 +6,6 @@ global_costmap:
   rolling_window: true
   width: 10.0
   height: 10.0
+  plugins:
+  - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}