1 #must match incoming static map
3 robot_base_frame: base_link
6 track_unknown_space: true
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"}
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