X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;h=62b586d16818b9e558c9e7dfb60aff2179495784;hp=e247bead4ef1ffbd03de2538567336057a559e1c;hb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index e247bea..62b586d 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,14 +5,15 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 10.0
-  height: 10.0
+  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"]
+  range_layer:
+    topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
     no_readings_timeout: 1.0
+    clear_on_max_reading: true