X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params_odom.yaml;fp=config%2Fglobal_costmap_params_odom.yaml;h=3dd3c902503cb5cfe3fcd9a651d193de97b8463f;hp=0000000000000000000000000000000000000000;hb=6925d3469d5f22b6271ece74540c0a30a51942db;hpb=90c915738a5c052a4330840a8d50a2590a30ab7a

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
new file mode 100644
index 0000000..3dd3c90
--- /dev/null
+++ b/config/global_costmap_params_odom.yaml
@@ -0,0 +1,11 @@
+global_costmap:
+  global_frame: odom
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  static_map: true
+  rolling_window: true
+  width: 10.0
+  height: 10.0
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}