navigation tuning

[ros_roboint.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 0224ad946b1e52bb0307433b812f97cbded22373..b079e1bd37de51b1ac662b93ad38552536b11da0 100644 (file)
--- 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