From 922abd4df1ccb5ccafc8d0f7827e710e17271974 Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 10 Feb 2025 12:55:38 +0100
Subject: [PATCH] Update costmap_common_params.yaml

---
 config/costmap_common_params.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 480fd96..ef6f415 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,8 +1,9 @@
 obstacle_range: 2.5
 raytrace_range: 3.0
-robot_radius: 0.25
+#robot_radius: 0.25
+footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]"
 inflation_radius: 0.15
 max_obstacle_height: 0.6
 min_obstacle_height: 0.0
 observation_sources: scan
-scan: {data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true, expected_update_rate: 0}
\ No newline at end of file
+scan: {data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true, expected_update_rate: 0}