asr_vosk: Allow to handle keyword and command in one sentence

[ros_wild_thumper.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index dde44ae674fb6d8fa098ae218e330edd6b385d06..332d53341f77ae3becb2c199fe6e7add6897448f 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,11 +1,16 @@
 global_costmap:
-  global_frame: /map
+  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:
-  inflation_radius: 0.25
+  inflation_layer:
+    inflation_radius: 0.4 # plan distance around corners
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true
+    enabled: false