X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=5ff675a3ef8ddba8bd90fe07fb5c6450e9ef4633;hp=6e4b3709915ec67516a7e91484845b8980f21564;hb=2df437a779847070d89c37f8f79776acc5446193;hpb=53c52f19f4cd243c9f5a66780ca365d54820761f

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 6e4b370..5ff675a 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,8 +1,17 @@
 footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
-inflation_radius: 0.5
 
 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: 0.20
+
+range_layer:
+  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