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=60d391a2b0b41a47ec6d1c1e5c48d74c2cfdba10;hp=0000000000000000000000000000000000000000;hb=2d9ab7d6996ef2d96507642099f5250f47256704;hpb=46045fa28568b7ff40fa23104b0ed70af2b277b6

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
new file mode 100644
index 0000000..60d391a
--- /dev/null
+++ b/config/global_costmap_params_odom.yaml
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+# only differences to config/global_costmap_params.yaml
+global_costmap:
+  global_frame: odom
+  rolling_window: true
+  width: 100.0
+  height: 100.0
+  resolution: 0.05
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}