X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=998b0be7ab845f2edbf450984c8b9c9b364084e6;hp=674c1cc85d29ce5678b54b597dabab4edaeffc2a;hb=15ada84238a9182aecb2c6a715c2b9db77b2f3fc;hpb=071eae4a1be7fa7da4bc89028424384315db19cf

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 674c1cc..998b0be 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -4,10 +4,10 @@ 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: 0.25
+  inflation_radius: 0.20
 
 range_layer:
   topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]