hubero_ros - reworked recovery behaviours config for navigation

rayvburn · Nov 22, 2023 · 553c02f · 553c02f
1 parent 77dbbc5
commit 553c02f
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/hubero_ros/config/planning/common/recovery_behaviors.yaml b/hubero_ros/config/planning/common/recovery_behaviors.yaml
@@ -1,11 +1,9 @@
 recovery_behaviors:
-  - name: 'refresh_vo'
-    type: 'clear_costmap_recovery/ClearCostmapRecovery'
   - name: 'costmap_reset_far'
     type: 'clear_costmap_recovery/ClearCostmapRecovery'
   - name: 'costmap_reset_close'
     type: 'clear_costmap_recovery/ClearCostmapRecovery'
-  - name: 'dummy'
+  - name: 'costmap_reset'
     type: 'clear_costmap_recovery/ClearCostmapRecovery'
 
 costmap_reset_far:
@@ -16,6 +14,6 @@ costmap_reset_close:
   reset_distance: 1.5
   layer_names: "obstacle_laser_layer" #, "obstacle_rgbd_layer"]
 
-dummy:
-  reset_distance: 5.5
+costmap_reset:
+  reset_distance: 0.0
   layer_names: "obstacle_laser_layer" #, "obstacle_rgbd_layer"]