X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_exploration.yaml;h=63685630a384cd62a8d03a2bfd64f966d3b0d831;hp=6414e9b6812d9f9c5d96caf2478cbdb1b212656e;hb=c60a40bfbf207333a4562bb3d9cc80dff8ec1ebd;hpb=cc73472b4a28a4ea6a97d96621b3ca260be01098

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 6414e9b..6368563 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
@@ -13,6 +13,7 @@ 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:
@@ -21,6 +22,11 @@ static_layer:
   # map_topic: move_base/global_costmap/costmap
   subscribe_to_updates: true
 
+range_layer:
+  topics: ["/range_forward", "/range_backward"]
+  no_readings_timeout: 1.0
+  clear_on_max_reading: true
+
 explore_boundary:
   resize_to_boundary: false
   frontier_travel_point: middle