publish_frequency: 2.0
static_map: false
rolling_window: true
- width: 5.0
- height: 5.0
+ width: 3.0
+ height: 3.0
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