added move_base

[ros_wild_thumper.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
new file mode 100644 (file)
index 0000000..9ea3b6c
--- /dev/null
+++ b/config/global_costmap_params.yaml
@@ -0,0 +1,9 @@
+global_costmap:
+  global_frame: /map
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  static_map: true
+  plugins:
+  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}