X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;fp=config%2Fglobal_costmap_params.yaml;h=9ea3b6cedbb8e19483f96fc1cea503fae4cbc4d6;hp=0000000000000000000000000000000000000000;hb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57;hpb=67442b2a9cc0d3110380fba786b4e9291db7f615

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
new file mode 100644
index 0000000..9ea3b6c
--- /dev/null
+++ b/config/global_costmap_params.yaml
@@ -0,0 +1,9 @@
+global_costmap:
+  global_frame: /map
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  static_map: true
+  plugins:
+  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}