d4fd59ec96f68756b20bd7d9c1e3f1573f2fe9b5
[ros_wild_thumper.git] / 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: 2.0
9   height: 2.0
10   resolution: 0.05
11   plugins:
12   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
13   - {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
14   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
15
16   sonar_layer:
17     topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
18     no_readings_timeout: 1.0