1 #must match incoming static map
3 robot_base_frame: base_footprint
8 track_unknown_space: true
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'}
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