robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 5.0
-resolution: 0.01
+resolution: 0.05
rolling_window: false
track_unknown_space: true
- {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:
# map_topic: move_base/global_costmap/costmap
subscribe_to_updates: true
+range_layer:
+ topics: ["/range_forward", "/range_backward"]
+ no_readings_timeout: 1.0
+ clear_on_max_reading: true
+
explore_boundary:
resize_to_boundary: false
frontier_travel_point: middle