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: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+ inflation_layer:
+ inflation_radius: 0.4 # plan distance around corners
+
+ obstacle_layer:
+ combination_method: 0 # overwrite
+ track_unknown_space: true