added readme

[ros_roboint.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 0224ad946b1e52bb0307433b812f97cbded22373..ca84cc0cfa0dc867c79d9b9c4dd6fc0fec347f7d 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -2,8 +2,8 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.105
-inflation_radius: 0.55
+inflation_radius: 0.15
 
 observation_sources: laser_scan_sensor
 
-laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: base_scan, marking: true, clearing: true}
+laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}