X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=config%2Fglobal_costmap_params.yaml;h=dde44ae674fb6d8fa098ae218e330edd6b385d06;hb=ed122a75c49ea77b0bcf8e33e1be03e4eecd36a7;hp=9ea3b6cedbb8e19483f96fc1cea503fae4cbc4d6;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57;p=ros_wild_thumper.git

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 9ea3b6c..dde44ae 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -5,5 +5,7 @@ global_costmap:
   static_map: true
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
-  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+inflation_layer:
+  inflation_radius: 0.25