#FileName: local_costmap_params.yaml
#Copyright: 2016-2018 ROS小课堂 www.corvin.cn
#Author: corvin
#Description:
#  本地代价地图需要配置的参数，各参数意义如下:
#  global_frame:在本地代价地图中的全局坐标系;
#  robot_base_frame:机器人本体的基坐标系;
#
#History:
#  20180613: initial this file.

local_costmap:
  global_frame: /map_static
  robot_base_frame: /robot0
  update_frequency: 5.0
  publish_frequency: 3.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  transform_tolerance: 0.5
  plugins:
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

