navigation stack tuning

[ros_wild_thumper.git] / config / costmap_exploration.yaml

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
new file mode 100644 (file)
index 0000000..26f3800
--- /dev/null
+++ b/config/costmap_exploration.yaml
@@ -0,0 +1,20 @@
+#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