global_params.yaml 597 Bytes
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#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: map
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: false

plugins:
  - {name: static_layer,    type: "costmap_2d::StaticLayer"}
  - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
    
static_layer:
  enabled: true
  map_topic: /map
  first_map_only: false
  subscribe_to_updates: false
  unknown_cost_value: -1
  use_maximum: false
  lethal_cost_threshold: 100
  track_unknown_space: true
  trinary_costmap: true