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sleong1/global_costmap_params.yaml

Created June 20, 2019 03:36
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global costmap config file with spatio temporal voxel layer
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global_costmap_params.yaml
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"}
- {name: depth_obstacle_layer, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"}
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