From b279f5e5d4808d53cac57bfb00dad92e23e2da39 Mon Sep 17 00:00:00 2001
From: Yannick Jonetzko <5jonetzk@informatik.uni-hamburg.de>
Date: Fri, 8 Jul 2016 10:18:20 +0200
Subject: [PATCH] Increase min max obstacle height for scan topic

Adjust the values so that it is possible to mount another laserscan source anywhere on the turtlebot.

In our setup we use, besides the kinect, a laserscanner which scans the field behind the turtlebot.
This scanner is placed above the kinect and publishes data with a higher value than the max_obstacle height,
in this case it is not possible to use the data for navigation and localization.
---
 turtlebot_navigation/param/costmap_common_params.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/turtlebot_navigation/param/costmap_common_params.yaml b/turtlebot_navigation/param/costmap_common_params.yaml
index 1868655b..570d165c 100644
--- a/turtlebot_navigation/param/costmap_common_params.yaml
+++ b/turtlebot_navigation/param/costmap_common_params.yaml
@@ -28,8 +28,8 @@ obstacle_layer:
     topic: scan
     marking: true
     clearing: true
-    min_obstacle_height: 0.25
-    max_obstacle_height: 0.35
+    min_obstacle_height: 0.20
+    max_obstacle_height: 0.41
   bump:
     data_type: PointCloud2
     topic: mobile_base/sensors/bumper_pointcloud