X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;h=391e33864e7b0c8895f12b0991f14d5229decb38;hp=d4fd59ec96f68756b20bd7d9c1e3f1573f2fe9b5;hb=53c52f19f4cd243c9f5a66780ca365d54820761f;hpb=3708a6b10b4b3b98e1c3422f545dba82948fec5a

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index d4fd59e..391e338 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -10,9 +10,10 @@ local_costmap:
   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:
+  range_layer:
     topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
     no_readings_timeout: 1.0
+    clear_on_max_reading: true