config/local_costmap_params.yaml

   1 local_costmap:
   2   global_frame: odom
   3   robot_base_frame: base_footprint
   4   update_frequency: 5.0
   5   publish_frequency: 2.0
   6   static_map: false
   7   rolling_window: true
   8   width: 3.0
   9   height: 3.0
  10   resolution: 0.05
  11   plugins:
  12   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  13   #- {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
  14   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
  15
  16   range_layer:
  17     topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
  18     no_readings_timeout: 1.0
  19     clear_on_max_reading: true