X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=b079e1bd37de51b1ac662b93ad38552536b11da0;hb=7acbe5c94bea992956f981598ca7d8679c6456ca;hp=0224ad946b1e52bb0307433b812f97cbded22373;hpb=d4fcf4ee7161b7d4357ec01aced82e6cfbbead6e;p=ros_roboint.git

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 0224ad9..b079e1b 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -2,8 +2,4 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.105
-inflation_radius: 0.55
-
-observation_sources: laser_scan_sensor
-
-laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: base_scan, marking: true, clearing: true}
+inflation_radius: 0.02