- {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: 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'}