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@sleong1
sleong1 / local_costmap_params.yaml
Created June 20, 2019 03:37
local costmap config file with spatio temporal voxel layer
local_costmap:
global_frame: odom
update_frequency: 6.0
publish_frequency: 6.0
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
plugins:
- name: static_map
@sleong1
sleong1 / global_costmap_params.yaml
Created June 20, 2019 03:36
global costmap config file with spatio temporal voxel layer
global_costmap:
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 2.0
always_send_full_costmap: false
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}