14 lines
554 B
YAML
Executable File
14 lines
554 B
YAML
Executable File
global_costmap:
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global_frame: map
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update_frequency: 1.0
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publish_frequency: 1.0
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raytrace_range: 2.0
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resolution: 0.05
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z_resolution: 0.2
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rolling_window: false
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z_voxels: 10
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inflation:
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cost_scaling_factor: 10.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
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inflation_radius: 0.6 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
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