From 29e6e2805a22713a19318bb9eca9f3734502b42d Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Mon, 3 Nov 2014 18:24:35 +0000
Subject: [PATCH] ros-pkg: set move_base's observation_sources in local costmap
 parameters

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1959 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 .../config/azimut3/costmap_common_params.yaml | 21 -------------------
 .../config/azimut3/local_costmap_params.yaml  | 21 +++++++++++++++++++
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/launch/config/azimut3/costmap_common_params.yaml b/launch/config/azimut3/costmap_common_params.yaml
index 967a506e..12f69fe0 100644
--- a/launch/config/azimut3/costmap_common_params.yaml
+++ b/launch/config/azimut3/costmap_common_params.yaml
@@ -6,27 +6,6 @@ footprint_padding: 0.03
 inflation_radius: 0.55
 transform_tolerance: 1
 
-#observation_sources: laser_scan_sensor point_cloud_sensor
-observation_sources: point_cloud_sensor
-
-laser_scan_sensor: {
-  data_type: LaserScan, 
-  topic: base_scan, 
-  expected_update_rate: 0.2, 
-  marking: true, 
-  clearing: true}
-
-# assuming receiving a cloud from rtabmap/obstacles_detection node
-point_cloud_sensor: {
-  sensor_frame: base_footprint,
-  data_type: PointCloud2, 
-  topic: openni_points, 
-  expected_update_rate: 0.5, 
-  marking: true, 
-  clearing: true,
-  min_obstacle_height: -99999.0,
-  max_obstacle_height: 99999.0}
-
 controller_patience: 2.0
 
 NavfnROS:
diff --git a/launch/config/azimut3/local_costmap_params.yaml b/launch/config/azimut3/local_costmap_params.yaml
index 51ef144b..40efc56e 100644
--- a/launch/config/azimut3/local_costmap_params.yaml
+++ b/launch/config/azimut3/local_costmap_params.yaml
@@ -10,3 +10,24 @@ local_costmap:
   resolution: 0.025
   origin_x: -2.0
   origin_y: -2.0
+
+  #observation_sources: laser_scan_sensor point_cloud_sensor
+  observation_sources: point_cloud_sensor
+
+  laser_scan_sensor: {
+    data_type: LaserScan, 
+    topic: base_scan, 
+    expected_update_rate: 0.2, 
+    marking: true, 
+    clearing: true}
+
+  # assuming receiving a cloud from rtabmap/obstacles_detection node
+  point_cloud_sensor: {
+    sensor_frame: base_footprint,
+    data_type: PointCloud2, 
+    topic: openni_points, 
+    expected_update_rate: 0.5, 
+    marking: true, 
+    clearing: true,
+    min_obstacle_height: -99999.0,
+    max_obstacle_height: 99999.0}