X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=1f128f00d16f63c0b944ffb2d0478d8b3f3c9740;hp=02ff12dc426672e9bc013215d8f4a245dcf5babf;hb=0338dec7b42d0454df844491f9404df5207e1382;hpb=80b61518513631afbd8acdcab2b23a53266080ca

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 02ff12d..1f128f0 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -4,7 +4,12 @@ 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}
+  laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
 inflation_layer:
-  inflation_radius: 0.5
+  inflation_radius: 0.20
+
+range_layer:
+  topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
+  no_readings_timeout: 1.0
+  clear_on_max_reading: true