added umbmark.py, tested with simulation

[ros_wild_thumper.git] / config / global_costmap_params_odom.yaml

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
new file mode 100644 (file)
index 0000000..3dd3c90
--- /dev/null
+++ b/config/global_costmap_params_odom.yaml
@@ -0,0 +1,11 @@
+global_costmap:
+  global_frame: odom
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  static_map: true
+  rolling_window: true
+  width: 10.0
+  height: 10.0
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}