31 lines
875 B
YAML
31 lines
875 B
YAML
global_costmap:
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ros__parameters:
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update_frequency: 10.0
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publish_frequency: 10.0
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global_frame: map
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robot_base_frame: base_link
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robot_radius: 0.17
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resolution: 0.01
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track_unknown_space: false
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rolling_window: false
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plugins: ["static_layer", "game_element_layer", "rival_layer", "inflation_layer"]
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.23
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game_element_layer:
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plugin: "toid::GameElementLayer"
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extra_elements: ["blue"]
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rival_layer:
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plugin: "toid::RivalLayer"
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rival_size: 0.15
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always_send_full_costmap: True
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lifecycle_manager:
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ros__parameters:
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autostart: true
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node_names: ['map_server', 'global_costmap']
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