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=dde44ae674fb6d8fa098ae218e330edd6b385d06;hb=2df437a779847070d89c37f8f79776acc5446193;hpb=edfbc2e2283bc5c482eb61307551ee92569fa4e1

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index dde44ae..3e1fd1d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,11 +1,18 @@
 global_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_footprint
-  update_frequency: 5.0
   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:
-  inflation_radius: 0.25
+  inflation_layer:
+    # low slope decay curve
+    inflation_radius: 1.75
+    cost_scaling_factor: 2.58
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true