X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=1309c66b5620a7f54626881b7586e180245406f2;hp=998b0be7ab845f2edbf450984c8b9c9b364084e6;hb=HEAD;hpb=c7a28da18dcd53f390ef56d892312efef9e1cfab

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 998b0be..1309c66 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -7,9 +7,11 @@ obstacle_layer:
   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
 inflation_layer:
-  inflation_radius: 0.20
+  inflation_radius: 0.22
 
 range_layer:
-  topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
+  topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
   no_readings_timeout: 1.0
   clear_on_max_reading: true
+  mark_threshold: 0.7
+  inflate_cone: 0.0