From 7978a0fd469aa4175140d2378216e0ed225c353c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 3 Oct 2023 09:19:42 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index b8da8ff..fa40aff 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -207,8 +207,8 @@ local_costmap:
         z_voxels: 16
         max_obstacle_height: 2.0
         mark_threshold: 0
-        observation_sources: scan
-        scan:
+        observation_sources: rplidar oakd
+        rplidar:
           topic: /scan
           max_obstacle_height: 2.0
           clearing: True
@@ -218,6 +218,17 @@ local_costmap:
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0
+        oak-d:  # no frame set, uses frame from message
+          topic: /stereo/points
+          max_obstacle_height: 1.5
+          min_obstacle_height: 0.02
+          obstacle_max_range: 3.0
+          obstacle_min_range: 0.0
+          raytrace_max_range: 3.2
+          raytrace_min_range: 0.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True