X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_exploration.yaml;h=4ce6692c7b4ec076616a13d107ad7efb408e17b7;hp=6414e9b6812d9f9c5d96caf2478cbdb1b212656e;hb=HEAD;hpb=e5d50b6babe986a2dcd4eff47a9600a6014e5d96

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 6414e9b..4ce6692 100644
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -3,7 +3,7 @@ global_frame: map
 robot_base_frame: base_footprint
 update_frequency: 5.0
 publish_frequency: 5.0
-resolution: 0.01
+resolution: 0.05
 
 rolling_window: false
 track_unknown_space: true
@@ -13,11 +13,12 @@ plugins:
 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
 # Can disable sensor layer if gmapping is fast enough to update scans
 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+- {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
 static_layer:
   # Can pull data from gmapping, map_server or a non-rolling costmap
-  map_topic: /map
+  map_topic: map
   # map_topic: move_base/global_costmap/costmap
   subscribe_to_updates: true
 
@@ -25,4 +26,4 @@ explore_boundary:
   resize_to_boundary: false
   frontier_travel_point: middle
   # set to false for gmapping, true if re-exploring a known area
-  explore_clear_space: true
+  explore_clear_space: false