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12 lines
338 B
YAML
12 lines
338 B
YAML
#global_costmap
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global_frame: map
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robot_base_frame: base_footprint
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update_frequency: 1
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publish_frequency: 2
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always_send_full_costmap: false
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plugins:
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- {name: static_layer, type: "rtabmap_ros::StaticLayer"}
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- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
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- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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