navigation stack tuning
[ros_wild_thumper.git] / config / global_costmap_params.yaml
1 global_costmap:
2   global_frame: map
3   robot_base_frame: base_footprint
4   publish_frequency: 1.0
5   plugins:
6   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
7   #- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
8   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
9
10   inflation_layer:
11     inflation_radius: 0.4 # plan distance around corners
12
13   obstacle_layer:
14     combination_method: 0 # overwrite
15     track_unknown_space: true