# 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
# set to false for gmapping, true if re-exploring a known area
- explore_clear_space: true
+ explore_clear_space: false