X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcostmap_exploration.yaml;h=84c88efd4e137b9993a1b3f08568377e93588739;hp=63685630a384cd62a8d03a2bfd64f966d3b0d831;hb=721db3c859a69179a9f956a53ae7e40cf0ca655b;hpb=c60a40bfbf207333a4562bb3d9cc80dff8ec1ebd

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 6368563..84c88ef 100644
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -22,13 +22,8 @@ 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
   # set to false for gmapping, true if re-exploring a known area
-  explore_clear_space: true
+  explore_clear_space: false