X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_common_params.yaml;h=9c932101b36bb6107b72e87a6b8a1d4f6545d552;hp=674c1cc85d29ce5678b54b597dabab4edaeffc2a;hb=8f08ba32c7c05b60e532a85264e648147227b8bb;hpb=c60a40bfbf207333a4562bb3d9cc80dff8ec1ebd

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 674c1cc..9c93210 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -4,12 +4,15 @@ 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}
+  combination_method: 0 # overwrite
 
 inflation_layer:
-  inflation_radius: 0.25
+  inflation_radius: 0.20
 
 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