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