X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;fp=config%2Flocal_costmap_params.yaml;h=e247bead4ef1ffbd03de2538567336057a559e1c;hp=0000000000000000000000000000000000000000;hb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57;hpb=67442b2a9cc0d3110380fba786b4e9291db7f615

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
new file mode 100644
index 0000000..e247bea
--- /dev/null
+++ b/config/local_costmap_params.yaml
@@ -0,0 +1,18 @@
+local_costmap:
+  global_frame: odom
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 10.0
+  height: 10.0
+  resolution: 0.05
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  #- {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+  sonar_layer:
+    topics: ["range_forward", "range_backward", "range_left", "range_right"]
+    no_readings_timeout: 1.0