sonar sensors: set fov to 40° as stated in http://picaxe.hobbizine.com/srf05.html

[ros_wild_thumper.git] / config / global_costmap_params_odom.yaml

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
index 3dd3c902503cb5cfe3fcd9a651d193de97b8463f..6f3b2e8d9a1f2e16c11ed738a0b50764003c446f 100644 (file)
--- a/config/global_costmap_params_odom.yaml
+++ b/config/global_costmap_params_odom.yaml
@@ -4,8 +4,9 @@ global_costmap:
   update_frequency: 5.0
   static_map: true
   rolling_window: true
   update_frequency: 5.0
   static_map: true
   rolling_window: true

-  width: 10.0
-  height: 10.0
+  width: 100.0
+  height: 100.0
+  resolution: 1.0

   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}