range sensor layer: Use inflate_cone=0 to fix range sensor clearing

See https://github.com/DLu/navigation_layers/issues/22

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 1f128f00d16f63c0b944ffb2d0478d8b3f3c9740..5ff675a3ef8ddba8bd90fe07fb5c6450e9ef4633 100644 (file)
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -13,3 +13,5 @@ range_layer:
   topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
   no_readings_timeout: 1.0
   clear_on_max_reading: true
+  mark_threshold: 0.7
+  inflate_cone: 0.0

diff --git a/launch/move_base.launch b/launch/move_base.launch
index eb425c3c10e2ca54786551d11630a495284c007a..9463a0c8cad8972f98b891ad35aa32c30efaf446 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -36,7 +36,7 @@
 
        <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
-       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
                <param name="base_local_planner" value="$(arg base_local_planner)"/>
                <param name="controller_frequency" value="10.0" />
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />