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=d4fd59ec96f68756b20bd7d9c1e3f1573f2fe9b5;hb=b6377c70569f9df0256dd67d10d3f3905330f802;hpb=3708a6b10b4b3b98e1c3422f545dba82948fec5a

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index d4fd59e..f5d3e38 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -3,16 +3,11 @@ local_costmap:
   robot_base_frame: base_footprint
   update_frequency: 5.0
   publish_frequency: 2.0
-  static_map: false
   rolling_window: true
-  width: 2.0
-  height: 2.0
+  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