global_costmap:

[ros_wild_thumper.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 04e296d756fe016ffa902a99d08f09887dd3e524..3e1fd1d764713d2cedf3883339e36494f4bcb447 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,5 +1,5 @@
 global_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_footprint
   static_map: true
   publish_frequency: 1.0
@@ -12,3 +12,7 @@ global_costmap:
     # low slope decay curve
     inflation_radius: 1.75
     cost_scaling_factor: 2.58
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true