X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Flocal_costmap_params.yaml;h=f5d3e383438110f0e04f038567bd10e61520f126;hp=62b586d16818b9e558c9e7dfb60aff2179495784;hb=HEAD;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index 62b586d..f5d3e38 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -3,17 +3,11 @@ local_costmap:
   robot_base_frame: base_footprint
   update_frequency: 5.0
   publish_frequency: 2.0
-  static_map: false
   rolling_window: true
   width: 3.0
   height: 3.0
   resolution: 0.05
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  #- {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
+  - {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
-
-  range_layer:
-    topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
-    no_readings_timeout: 1.0
-    clear_on_max_reading: true