Use gps instead utm as gps frame

[ros_wild_thumper.git] / config / global_costmap_params_gps.yaml

diff --git a/config/global_costmap_params_gps.yaml b/config/global_costmap_params_gps.yaml
new file mode 100644 (file)
index 0000000..fa54a35
--- /dev/null
+++ b/config/global_costmap_params_gps.yaml
@@ -0,0 +1,10 @@
+# only differences to config/global_costmap_params.yaml
+global_costmap:
+  global_frame: gps
+  rolling_window: true
+  width: 200.0
+  height: 200.0
+  resolution: 0.10
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}