X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=ca84cc0cfa0dc867c79d9b9c4dd6fc0fec347f7d;hb=ffe8ec42bc41d93a9129b6f11c641698d24b27ab;hp=0224ad946b1e52bb0307433b812f97cbded22373;hpb=37a6abd81e2df14d5cac07d99fa854f308355918;p=ros_roboint.git

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 0224ad9..ca84cc0 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -2,8 +2,8 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.105
-inflation_radius: 0.55
+inflation_radius: 0.15
 
 observation_sources: laser_scan_sensor
 
-laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: base_scan, marking: true, clearing: true}
+laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}