--- /dev/null
+local_costmap:
+ global_frame: odom
+ robot_base_frame: base_footprint
+ update_frequency: 5.0
+ publish_frequency: 2.0
+ static_map: false
+ rolling_window: true
+ width: 10.0
+ height: 10.0
+ resolution: 0.05
+ plugins:
+ - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+ #- {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"}
+ - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+ sonar_layer:
+ topics: ["range_forward", "range_backward", "range_left", "range_right"]
+ no_readings_timeout: 1.0