urdf: antenna fixes

[ros_wild_thumper.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 998b0be7ab845f2edbf450984c8b9c9b364084e6..1309c66b5620a7f54626881b7586e180245406f2 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -7,9 +7,11 @@ obstacle_layer:
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
 inflation_layer:
-  inflation_radius: 0.20
+  inflation_radius: 0.22
 
 range_layer:
-  topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
+  topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
   no_readings_timeout: 1.0
   clear_on_max_reading: true
+  mark_threshold: 0.7
+  inflate_cone: 0.0