global_map.launch

<launch>

    <!-- Set to your sensor's range -->
    <arg name="sensor_range" default="3.0"/>

    <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>

    <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" launch-prefix="gdb -ex run --args" >

        <param name="frequency" type="double" value="0.5"/>
        <param name="goal_aliasing" type="double" value="$(arg sensor_range)"/>

        #All standard costmap_2d parameters as in move_base, other than BoundedExploreLayer
        <rosparam ns="explore_costmap" subst_value="true">
            footprint: '[[0.235,0.185],[-0.235,0.185],[-0.235,-0.185],[0.235,-0.185]]'
            robot_radius: 0.46
            
            transform_tolerance: 2.0
            update_frequency: 2.0
            publish_frequency: 1.0

            #must match incoming static map
            global_frame: map
            robot_base_frame: base_link
            resolution: 0.05

            rolling_window: false
            track_unknown_space: true

            plugins: 

                - {name: static_layer,           type: "costmap_2d::StaticLayer"}            
                - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
                - {name: obstacle_layer,           type: "costmap_2d::ObstacleLayer"}
                - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}

            static:
                #Can pull data from gmapping, map_server or a non-rolling costmap            
                map_topic: /map
                #map_topic: move_base/global_costmap/costmap   
                subscribe_to_updates: true

            explore_boundary:
                resize_to_boundary: false
                frontier_travel_point: closest

            sensor:
                observation_sources: scan
                scan: {clearing: true, data_type: LaserScan, expected_update_rate: 0.2, marking: true,
                  topic: scan}
                laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true, raytrace_range: $(arg sensor_range), obstacle_range: $(arg sensor_range)}

            inflation:
                inflation_radius: 0.4
      </rosparam>
    </node>

</launch>