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