X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;h=e5547652cada16a7aedc4cee486d807fbc8709cc;hb=0d1a527c896034b043f05858666a770a14475260;hp=544e1b32dab449bf2bbaae4578c2060894bda609;hpb=93976bad39fb3219fe75e0111b0275e8a0f1b605;p=arm_ros_conn.git

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index 544e1b3..e554765 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,6 +5,9 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 6.0
-  height: 6.0
-  resolution: 0.05
+  width: 10.0
+  height: 10.0
+  resolution: 0.01
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}