-navigation stack fixes

[ros_wild_thumper.git] / config / local_costmap_params.yaml

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index b4fa9847b9dc0c570fd4ad9a7e1d91a00381d78b..391e33864e7b0c8895f12b0991f14d5229decb38 100644 (file)
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,14 +5,15 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 5.0
-  height: 5.0
+  width: 2.0
+  height: 2.0
   resolution: 0.05
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  #- {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
-  sonar_layer:
-    topics: ["range_forward", "range_backward", "range_left", "range_right"]
+  range_layer:
+    topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
     no_readings_timeout: 1.0
+    clear_on_max_reading: true