asr_vosk: Allow to handle keyword and command in one sentence

[ros_wild_thumper.git] / config / costmap_exploration.yaml

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 63685630a384cd62a8d03a2bfd64f966d3b0d831..4ce6692c7b4ec076616a13d107ad7efb408e17b7 100644 (file)
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -18,17 +18,12 @@ plugins:
 
 static_layer:
   # Can pull data from gmapping, map_server or a non-rolling costmap
-  map_topic: /map
+  map_topic: map
   # map_topic: move_base/global_costmap/costmap
   subscribe_to_updates: true
 
-range_layer:
-  topics: ["/range_forward", "/range_backward"]
-  no_readings_timeout: 1.0
-  clear_on_max_reading: true
-
 explore_boundary:
   resize_to_boundary: false
   frontier_travel_point: middle
   # set to false for gmapping, true if re-exploring a known area
-  explore_clear_space: true
+  explore_clear_space: false