X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params_utm.yaml;fp=config%2Fglobal_costmap_params_utm.yaml;h=8ecf0b52788a2171b04777d086042288cd79170b;hp=0000000000000000000000000000000000000000;hb=f1096738b1cb44e0abdb7e85ddd66cc44a48323a;hpb=be32db6e215b3db0f6776dcfd579a7c93c5caf0a

diff --git a/config/global_costmap_params_utm.yaml b/config/global_costmap_params_utm.yaml
new file mode 100644
index 0000000..8ecf0b5
--- /dev/null
+++ b/config/global_costmap_params_utm.yaml
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+# only differences to config/global_costmap_params.yaml
+global_costmap:
+  global_frame: utm
+  rolling_window: true
+  width: 200.0
+  height: 200.0
+  resolution: 0.10
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}