X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;h=29fc1bc3a1110422437cfafd1ce69f80657841ef;hp=b4fa9847b9dc0c570fd4ad9a7e1d91a00381d78b;hb=112a7d2803b300557cf90e1cd48c0f81a8b7070e;hpb=1f9bfab5123f0dcdfe0da75c47558f73a572de90

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index b4fa984..29fc1bc 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,14 +5,10 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 5.0
-  height: 5.0
+  width: 3.0
+  height: 3.0
   resolution: 0.05
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  #- {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
-
-  sonar_layer:
-    topics: ["range_forward", "range_backward", "range_left", "range_right"]
-    no_readings_timeout: 1.0