X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=3e1fd1d764713d2cedf3883339e36494f4bcb447;hp=04e296d756fe016ffa902a99d08f09887dd3e524;hb=2df437a779847070d89c37f8f79776acc5446193;hpb=8f08ba32c7c05b60e532a85264e648147227b8bb

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 04e296d..3e1fd1d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,5 +1,5 @@
 global_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_footprint
   static_map: true
   publish_frequency: 1.0
@@ -12,3 +12,7 @@ global_costmap:
     # low slope decay curve
     inflation_radius: 1.75
     cost_scaling_factor: 2.58
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true