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 publish_frequency: 5.0
   6 resolution: 0.01
   7
   8 rolling_window: false
   9 track_unknown_space: true
  10
  11 plugins:
  12 - {name: static_layer, type: 'costmap_2d::StaticLayer'}
  13 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
  14 # Can disable sensor layer if gmapping is fast enough to update scans
  15 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  16 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
  17
  18 static_layer:
  19   # Can pull data from gmapping, map_server or a non-rolling costmap
  20   map_topic: /map
  21   # map_topic: move_base/global_costmap/costmap
  22   subscribe_to_updates: true
  23
  24 explore_boundary:
  25   resize_to_boundary: false
  26   frontier_travel_point: middle
  27   # set to false for gmapping, true if re-exploring a known area
  28   explore_clear_space: true