X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params_odom.yaml;h=417e0512d2ea1b7bbe9c72cd4192e8356e7c3840;hp=3dd3c902503cb5cfe3fcd9a651d193de97b8463f;hb=5288ffaa49480c1a4d556a288fb4bc38bfb88d97;hpb=6925d3469d5f22b6271ece74540c0a30a51942db

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
index 3dd3c90..417e051 100644
--- a/config/global_costmap_params_odom.yaml
+++ b/config/global_costmap_params_odom.yaml
@@ -1,11 +1,10 @@
+# only differences to config/global_costmap_params.yaml
 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
+  width: 200.0
+  height: 200.0
+  resolution: 0.10
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}