16 lines
414 B
YAML
16 lines
414 B
YAML
global_costmap:
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global_frame: map
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robot_base_frame: base_link
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update_frequency: 5.0
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publish_frequency: 5.0
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static_map: false
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resolution: 0.025
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transform_tolerance: 0.5
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plugins:
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- {name: static_layer, type: "costmap_2d::StaticLayer"}
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- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
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- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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