X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;h=d4fd59ec96f68756b20bd7d9c1e3f1573f2fe9b5;hp=b4fa9847b9dc0c570fd4ad9a7e1d91a00381d78b;hb=3708a6b10b4b3b98e1c3422f545dba82948fec5a;hpb=cb29fa4ba7d1492c9f91752a7a07b512fee7dad0

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index b4fa984..d4fd59e 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,14 +5,14 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 5.0
-  height: 5.0
+  width: 2.0
+  height: 2.0
   resolution: 0.05
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  #- {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: sonar_layer,   type: "range_sensor_layer::RangeSensorLayer"}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
   sonar_layer:
-    topics: ["range_forward", "range_backward", "range_left", "range_right"]
+    topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
     no_readings_timeout: 1.0