0f5bc4300aec73f1e88564d7b0bfe6dbf3a685d7
[ros_wild_thumper.git] / config / costmap_exploration.yaml
1 #must match incoming static map
2 global_frame: map
3 robot_base_frame: base_footprint
4 update_frequency: 5.0
5 resolution: 0.01
6
7 rolling_window: false
8 track_unknown_space: true
9
10 plugins: 
11 - {name: static_layer, type: 'costmap_2d::StaticLayer'}
12 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
13 #Can disable sensor layer if gmapping is fast enough to update scans
14 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
15 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
16
17 explore_boundary:
18   resize_to_boundary: true
19   frontier_travel_point: middle
20   #set to false for gmapping, true if re-exploring a known area
21   explore_clear_space: true