init

toid_navigation/params/toid_costmap_params.yaml

@@ -0,0 +1,24 @@
+global_costmap:
+  ros__parameters:
+    update_frequency: 1.0
+    publish_frequency: 1.0
+    global_frame: map
+    robot_base_frame: base_link
+    robot_radius: 0.17
+    resolution: 0.01
+    track_unknown_space: false
+    rolling_window: false
+    plugins: ["static_layer", "inflation_layer"]
+    static_layer:
+      plugin: "nav2_costmap_2d::StaticLayer"
+      map_subscribe_transient_local: True
+    inflation_layer:
+      plugin: "nav2_costmap_2d::InflationLayer"
+      cost_scaling_factor: 3.0
+      inflation_radius: 0.23
+    always_send_full_costmap: True
+
+lifecycle_manager:
+  ros__parameters:
+    autostart: true
+    node_names: ['map_server', 'global_costmap']