From 8f08ba32c7c05b60e532a85264e648147227b8bb Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sat, 27 Oct 2018 11:19:13 +0200 Subject: [PATCH 1/1] navigation/global_costmap: Include laser sensor, overwrite static map --- config/costmap_common_params.yaml | 1 + config/global_costmap_params.yaml | 2 ++ 2 files changed, 3 insertions(+) diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml index 5ff675a..9c93210 100644 --- 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 eb3e89c..04e296d 100644 --- 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: -- 2.39.2