costmap_2d/config/config.yaml

26 lines
532 B
YAML

inflation_layer:
enabled: true
inflate_unknown: false
cost_scaling_factor: 15.0
inflation_radius: 0.55
costmap_2d:
plugins:
- name: static_layer
type: create_static_layer
- name: inflation_layer
type: create_inflation_layer
- name: obstacle_layer
type: create_obstacle_layer
- name: preferred_layer
type: create_preferred_layer
path: ./src/costmap_2d/libplugins.so
# robot_time_source: true
# update_frequency: 5.0
# publish_frequency: 2.0
# transform_tolerance: 0.5