From 90d0c10ca262d4a12c4bc4cc20bc90c86302fb7b Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Wed, 6 Sep 2017 18:10:45 +0200
Subject: [PATCH 1/1] range sensor layer: Use inflate_cone=0 to fix range
 sensor clearing

See https://github.com/DLu/navigation_layers/issues/22
---
 config/costmap_common_params.yaml | 2 ++
 launch/move_base.launch           | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 1f128f0..5ff675a 100644
--- 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 eb425c3..9463a0c 100644
--- 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" />
-- 
2.39.2