config/global_costmap_params_odom.yaml

   1 # only differences to config/global_costmap_params.yaml
   2 global_costmap:
   3   global_frame: odom
   4   rolling_window: true
   5   width: 100.0
   6   height: 100.0
   7   resolution: 1.0
   8   resolution: 0.05
   9   plugins:
  10   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  11   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}