Revision history [back]

I'm trying to use this configuration file to add two static layers:

global_costmap:
    global_frame:           /map
    robot_base_frame:       /base_link
    update_frequency:       1.0
    publish_frequency:      0.5
    static_map:             true
    transform_tolerance:    0.5
    plugins:
        - {name: height_layer,            type: "costmap_2d::StaticLayer"}
        - {name: traversability_layer,    type: "costmap_2d::StaticLayer"}

height_layer:
    enabled:                true
    map_topic:              /zed/map/glob_map_costmap
    first_map_only:         false
    unknown_cost_value:     -1
    lethal_cost_threshold:  100
    subscribe_to_updates:   false
    track_unknown_space:    true
    use_maximum:            false     
    trinary_costmap:        false       

traversability_layer:
    enabled:                true
    map_topic:              /zed/map/glob_map_heightmap
    first_map_only:         false
    unknown_cost_value:     -1
    lethal_cost_threshold:  100
    subscribe_to_updates:   false
    track_unknown_space:    true
    use_maximum:            false     
    trinary_costmap:        false

Is this file correct?