publish_frequency: 1.0
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- #- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+ - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
inflation_layer:
obstacle_layer:
combination_method: 0 # overwrite
track_unknown_space: true
+ enabled: false