# must match incoming static map global_frame: map robot_base_frame: base_footprint update_frequency: 5.0 publish_frequency: 5.0 resolution: 0.05 rolling_window: false track_unknown_space: true plugins: - {name: static_layer, type: 'costmap_2d::StaticLayer'} - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"} # Can disable sensor layer if gmapping is fast enough to update scans - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'} - {name: range_layer, type: "range_sensor_layer::RangeSensorLayer"} - {name: inflation_layer, type: 'costmap_2d::InflationLayer'} static_layer: # Can pull data from gmapping, map_server or a non-rolling costmap map_topic: map # map_topic: move_base/global_costmap/costmap subscribe_to_updates: true explore_boundary: resize_to_boundary: false frontier_travel_point: middle # set to false for gmapping, true if re-exploring a known area explore_clear_space: false