X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_exploration.yaml;h=84c88efd4e137b9993a1b3f08568377e93588739;hp=26f38002682f8d61fe6b1917e7b57fd05dc66cbd;hb=c1769fc7f88e8ce879c7a8a9308338eb0df14bd7;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 26f3800..84c88ef 100644
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -1,20 +1,29 @@
-#must match incoming static map
+# must match incoming static map
 global_frame: map
-robot_base_frame: base_link
+robot_base_frame: base_footprint
+update_frequency: 5.0
+publish_frequency: 5.0
 resolution: 0.05
 
-track_unknown_space: true
 rolling_window: false
+track_unknown_space: true
 
 plugins: 
-- {name: static,           type: "costmap_2d::StaticLayer"}            
+- {name: static_layer, type: 'costmap_2d::StaticLayer'}
 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
-#Can disable sensor layer if gmapping is fast enough to update scans
-- {name: sensor,           type: "costmap_2d::ObstacleLayer"}
-- {name: inflation,        type: "costmap_2d::InflationLayer"}
+# Can disable sensor layer if gmapping is fast enough to update scans
+- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+- {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
+- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+static_layer:
+  # Can pull data from gmapping, map_server or a non-rolling costmap
+  map_topic: /map
+  # map_topic: move_base/global_costmap/costmap
+  subscribe_to_updates: true
 
 explore_boundary:
   resize_to_boundary: false
   frontier_travel_point: middle
-  #set to false for gmapping, true if re-exploring a known area
+  # set to false for gmapping, true if re-exploring a known area
   explore_clear_space: false