Move config/global_costmap_params_odom.yaml go config/global_costmap_params_utm.yaml
[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