X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=d44e361103e1616feabc8749f35aedbde92154ce;hp=9ea3b6cedbb8e19483f96fc1cea503fae4cbc4d6;hb=b6377c70569f9df0256dd67d10d3f3905330f802;hpb=860e5f83d540d60b46f4a0f242f007dfd1c0747d

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 9ea3b6c..d44e361 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,9 +1,15 @@
 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: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+  inflation_layer:
+    inflation_radius: 0.4 # plan distance around corners
+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true