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- loop_closure_planner:
- allow_unknown: false
- explore_planner:
- allow_unknown: false
- #Independent settings for the planner's costmap
- global_costmap:
- global_frame: /map
- robot_base_frame: base_link
- update_frequency: 5.0
- publish_frequency: 0.0
- static_map: true
- rolling_window: false
- # global_frame: /map
- # robot_base_frame: base_link
- # update_frequency: 1.0
- # publish_frequency: 0.0
- # raytrace_range: 5.0
- # obstacle_range: 5.0
- # static_map: false
- # rolling_window: false
- # width: 60.0
- # height: 60.0
- # resolution: 0.2
- # origin_x: -30.0
- # origin_y: -30.0
- # track_unknown_space: true
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