use new inflation_layer in layered costmap2d

[ros_roboint.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index ca84cc0cfa0dc867c79d9b9c4dd6fc0fec347f7d..b4f0f067fe10d921376089f06ed3857acdfd1b17 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -3,7 +3,3 @@ raytrace_range: 3.0
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.105
 inflation_radius: 0.15
-
-observation_sources: laser_scan_sensor
-
-laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}