use new inflation_layer in layered costmap2d

[ros_roboint.git] / config / local_costmap_params.yaml

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index a8a92d550cce388eb6dc516d461597e85d601454..f3cfe7c402c847c3a1357f888a4ba69d28543151 100644 (file)
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -7,4 +7,7 @@ local_costmap:
   rolling_window: true
   width: 4.0
   height: 4.0
-  resolution: 0.05
+  resolution: 0.01
+  plugins:
+  - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}