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=674c1cc85d29ce5678b54b597dabab4edaeffc2a;hp=02ff12dc426672e9bc013215d8f4a245dcf5babf;hb=071eae4a1be7fa7da4bc89028424384315db19cf;hpb=cc73472b4a28a4ea6a97d96621b3ca260be01098

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 02ff12d..674c1cc 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -7,4 +7,9 @@ obstacle_layer:
   laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
 inflation_layer:
-  inflation_radius: 0.5
+  inflation_radius: 0.25
+
+range_layer:
+  topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
+  no_readings_timeout: 1.0
+  clear_on_max_reading: true