navigation/global_costmap: Include laser sensor, overwrite static map

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 5ff675a3ef8ddba8bd90fe07fb5c6450e9ef4633..9c932101b36bb6107b72e87a6b8a1d4f6545d552 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -5,6 +5,7 @@ obstacle_layer:
   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

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index eb3e89cd18cce0e4705e133ad49d20155307eb99..04e296d756fe016ffa902a99d08f09887dd3e524 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -2,8 +2,10 @@ global_costmap:
   global_frame: /map
   robot_base_frame: base_footprint
   static_map: true
+  publish_frequency: 1.0
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
   inflation_layer: