X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=04e296d756fe016ffa902a99d08f09887dd3e524;hp=eb3e89cd18cce0e4705e133ad49d20155307eb99;hb=68f7b98299eb1a3af3b5b17ac07cb5fd9179a53e;hpb=600928bc1ad74c0d227c414f6e9298cc8d66c959

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index eb3e89c..04e296d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -2,8 +2,10 @@ global_costmap:
   global_frame: /map
   robot_base_frame: base_footprint
   static_map: true
+  publish_frequency: 1.0
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
   inflation_layer: