X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=8decd3b1d2af7e6daa2d7aefdad1cfe880291724;hp=ffff33a49af181b867f2c23217304b3408707747;hb=069330483527204952c04f74a6b784676ab49c44;hpb=59aa8070d143dfe926defadfd3364d0c2185fef1

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index ffff33a..8decd3b 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,9 +1,11 @@
 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
+transform_tolerance: 0.5
 
-observation_sources: laser_scan_sensor
+obstacle_layer:
+  observation_sources: laser_scan_sensor
 
 laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}