Added script to follow tf uwb beacon

[ros_wild_thumper.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 02ff12dc426672e9bc013215d8f4a245dcf5babf..5ff675a3ef8ddba8bd90fe07fb5c6450e9ef4633 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -4,7 +4,14 @@ obstacle_layer:
   observation_sources: laser_scan_sensor
   obstacle_range: 2.5
   raytrace_range: 3.0
-  laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+  laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
 inflation_layer:
-  inflation_radius: 0.5
+  inflation_radius: 0.20
+
+range_layer:
+  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