navigation/global_costmap: Include laser sensor, overwrite static map

[ros_wild_thumper.git] / config / costmap_common_params.yaml

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 1f128f00d16f63c0b944ffb2d0478d8b3f3c9740..9c932101b36bb6107b72e87a6b8a1d4f6545d552 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -5,6 +5,7 @@ obstacle_layer:
   obstacle_range: 2.5
   raytrace_range: 3.0
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
+  combination_method: 0 # overwrite
 
 inflation_layer:
   inflation_radius: 0.20
@@ -13,3 +14,5 @@ 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