3e1fd1d764713d2cedf3883339e36494f4bcb447
[ros_wild_thumper.git] / config / global_costmap_params.yaml
1 global_costmap:
2   global_frame: map
3   robot_base_frame: base_footprint
4   static_map: true
5   publish_frequency: 1.0
6   plugins:
7   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
8   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
9   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
10
11   inflation_layer:
12     # low slope decay curve
13     inflation_radius: 1.75
14     cost_scaling_factor: 2.58
15
16   obstacle_layer:
17     combination_method: 0 # overwrite
18     track_unknown_space: true