#FileName: global_costmap_params.yaml
#Copyright: 2016-2018 ROS小课堂 www.corvin.cn
#Author: corvin
#Description:
#  全局代价地图参数配置文件,各参数的意义如下：
#  global_frame:在全局代价地图中的全局坐标系;
#  robot_base_frame:机器人的基坐标系;
#
#History:
#  20180613: initial this file.
global_costmap:
  global_frame: /map
  robot_base_frame: /robot0
  update_frequency: 0.5
  static_map: true
  rolling_window: false
  transform_tolerance: 1.0
  plugins:
    - {name: static_layer,    type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

