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 01a3c8feda3a0fe67e413d27c3ee6db180dc8b1e..33c1f85e6a5d638d2424611b3da937329d2bd64f 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,5 +1,11 @@
 global_costmap:
-  global_frame: /map
+  global_frame: odom
   robot_base_frame: base_link
   update_frequency: 5.0
   static_map: true
+  rolling_window: true
+  width: 10.0
+  height: 10.0
+  plugins:
+  - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}