config/costmap_exploration.yaml

   1 #must match incoming static map
   2 global_frame: map
   3 robot_base_frame: base_link
   4 resolution: 0.05
   5
   6 track_unknown_space: true
   7 rolling_window: false
   8
   9 plugins:
  10 - {name: static,           type: "costmap_2d::StaticLayer"}
  11 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
  12 #Can disable sensor layer if gmapping is fast enough to update scans
  13 - {name: sensor,           type: "costmap_2d::ObstacleLayer"}
  14 - {name: inflation,        type: "costmap_2d::InflationLayer"}
  15
  16 explore_boundary:
  17   resize_to_boundary: false
  18   frontier_travel_point: middle
  19   #set to false for gmapping, true if re-exploring a known area
  20   explore_clear_space: false