navigation/global_costmap: Include laser sensor, overwrite static map

[ros_wild_thumper.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 3015ff08c5c129d2834768eaa523399ed543a3b5..04e296d756fe016ffa902a99d08f09887dd3e524 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,8 +1,14 @@
 global_costmap:
   global_frame: /map
   robot_base_frame: base_footprint
-  update_frequency: 5.0
   static_map: true
+  publish_frequency: 1.0
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+  inflation_layer:
+    # low slope decay curve
+    inflation_radius: 1.75
+    cost_scaling_factor: 2.58