From 1b91079a186f8b2408cc6d1ff8a1b2d6b70be5d1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 3 Oct 2023 08:57:23 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 5c25ba9..8e516b0 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -541,7 +541,7 @@ local_costmap:
         max_obstacle_height: 2.0
         unknown_threshold: 4
         mark_threshold: 2
-        observation_sources: oak-d
+        observation_sources: oak-d rplidar
         combination_method: 1
         oak-d:  # no frame set, uses frame from message
           topic: /stereo/points
@@ -554,6 +554,16 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "PointCloud2"
+        rplidar:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 8.0 # was 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0 
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True