-#must match incoming static map
+# must match incoming static map
global_frame: map
robot_base_frame: base_footprint
update_frequency: 5.0
-resolution: 0.01
+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
+# 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: true
+ resize_to_boundary: false
frontier_travel_point: middle
- #set to false for gmapping, true if re-exploring a known area
- explore_clear_space: true
+ # set to false for gmapping, true if re-exploring a known area
+ explore_clear_space: false