32 lines
638 B
YAML
32 lines
638 B
YAML
robot_costmap_2d:
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global_frame: odom
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robot_base_frame: base_link
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rolling_window: true
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track_unknown_space: false
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plugins:
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- name: voxel_layer
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type: VoxelLayer
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- name: inflation_layer
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type: InflationLayer
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library_path: /home/duongtd/T800_ws/devel/lib/libplugins.so
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footprint:
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- [0.30, 0.30]
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- [0.30, -0.30]
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- [-0.30, -0.30]
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- [-0.30, 0.30]
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transform_tolerance: 0.5
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performance_metrics_enabled: false
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performance_metrics_period: 5.0
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update_frequency: 5.0
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width: 6.0
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height: 6.0
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resolution: 0.05
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origin_x: 0.0
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origin_y: 0.0
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footprint_padding: 0.0
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robot_radius: 0.0
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