global_costmap:

overwrite with track_unknown_space=true for obstacle layer

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 9c932101b36bb6107b72e87a6b8a1d4f6545d552..5ff675a3ef8ddba8bd90fe07fb5c6450e9ef4633 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -5,7 +5,6 @@ obstacle_layer:
   obstacle_range: 2.5
   raytrace_range: 3.0
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
   obstacle_range: 2.5
   raytrace_range: 3.0
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

-  combination_method: 0 # overwrite

 
 inflation_layer:
   inflation_radius: 0.20
 
 inflation_layer:
   inflation_radius: 0.20

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index af07509b424cb46cb9cbdf6d5fb89195b3edaa4f..3e1fd1d764713d2cedf3883339e36494f4bcb447 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -12,3 +12,7 @@ global_costmap:
     # low slope decay curve
     inflation_radius: 1.75
     cost_scaling_factor: 2.58
     # low slope decay curve
     inflation_radius: 1.75
     cost_scaling_factor: 2.58

+
+  obstacle_layer:
+    combination_method: 0 # overwrite
+    track_unknown_space: true