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=e247bead4ef1ffbd03de2538567336057a559e1c;hb=HEAD;hpb=860e5f83d540d60b46f4a0f242f007dfd1c0747d

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index e247bea..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: 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"]
-    no_readings_timeout: 1.0