X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=381042935762dc78df8320f693d01a5eabeefb0e;hp=ffff33a49af181b867f2c23217304b3408707747;hb=15d0cdc058609e614c21cefef358829b46a77155;hpb=93976bad39fb3219fe75e0111b0275e8a0f1b605

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index ffff33a..3810429 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,9 +1,9 @@
-obstacle_range: 2.5
-raytrace_range: 3.0
-#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
-robot_radius: 0.15
+footprint: [ [0.22, 0.11], [-0.08, 0.11], [-0.08, -0.11], [0.22, -0.11] ]
+#robot_radius: 0.15
 inflation_radius: 0.55
 
-observation_sources: laser_scan_sensor
-
-laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+obstacle_layer:
+  observation_sources: laser_scan_sensor
+  obstacle_range: 2.5
+  raytrace_range: 3.0
+  laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}