X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;fp=config%2Fcostmap_common_params.yaml;h=2ddecc452778d20424d081663623fc90f63d4ac4;hp=0000000000000000000000000000000000000000;hb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57;hpb=67442b2a9cc0d3110380fba786b4e9291db7f615

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
new file mode 100644
index 0000000..2ddecc4
--- /dev/null
+++ b/config/costmap_common_params.yaml
@@ -0,0 +1,8 @@
+footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
+inflation_radius: 0.55
+
+obstacle_layer:
+  observation_sources: laser_scan_sensor
+  obstacle_range: 2.5
+  raytrace_range: 3.0
+  laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}