#must match incoming static map global_frame: map robot_base_frame: base_link resolution: 0.05 track_unknown_space: true rolling_window: false plugins: - {name: static, type: "costmap_2d::StaticLayer"} - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"} #Can disable sensor layer if gmapping is fast enough to update scans - {name: sensor, type: "costmap_2d::ObstacleLayer"} - {name: inflation, type: "costmap_2d::InflationLayer"} 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