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=6f3b2e8d9a1f2e16c11ed738a0b50764003c446f;hb=8f08ba32c7c05b60e532a85264e648147227b8bb;hpb=fb692fdbf76fda0e13adb284b6ccd09cb3fa7afb

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
index 6f3b2e8..417e051 100644
--- a/config/global_costmap_params_odom.yaml
+++ b/config/global_costmap_params_odom.yaml
@@ -1,12 +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: 100.0
-  height: 100.0
-  resolution: 1.0
+  width: 200.0
+  height: 200.0
+  resolution: 0.10
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}