3dfcf594d94e7c24227cc543864b3003c71cd359
[ros_wild_thumper.git] / config / global_costmap_params.yaml
1 global_costmap:
2   global_frame: /map
3   robot_base_frame: base_footprint
4   update_frequency: 5.0
5   static_map: true
6   plugins:
7   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
8   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
9
10 inflation_layer:
11   # low slope decay curve
12   inflation_radius: 1.75
13   cost_scaling_factor: 2.58