{"action":"created","comment":{"url":"https://api.github.com/repos/ipa320/cob_robots/pulls/comments/43515285","id":43515285,"diff_hunk":"@@ -12,18 +12,34 @@ width: 5.0\n height: 5.0\n resolution: 0.07\n \n-# footprint and range\n-obstacle_range: 3.0 #[m]\n-max_obstacle_height: 2.0 #[m]\n-raytrace_range: 3.0 #3.0 #[m]\n+# footprint\n footprint: [[0.52, 0.3], [0.52, -0.3], [-0.52, -0.3],[-0.52, 0.3]] #[m]\n footprint_padding: 0.02 #[m]\n-inflation_radius: 0.55 #[m]\n \n-# sensor setup\n-observation_sources: laser_scan_sensor_front laser_scan_sensor_rear\n-laser_scan_sensor_front: {sensor_frame: base_laser_front_link, data_type: LaserScan, topic: scan_front, marking: true, clearing: true}\n-\n-laser_scan_sensor_rear: {sensor_frame: base_laser_rear_link, data_type: LaserScan, topic: scan_rear, marking: true, clearing: true}\n+# costmap layers\n+plugins:\n+  - {name: obstacle_layer, type: \"costmap_2d::ObstacleLayer\"}\n+  - {name: inflation_layer, type: \"costmap_2d::InflationLayer\"}","path":"cob_hardware_config/raw3-2/config/local_costmap_params.yaml","position":30,"original_position":30,"commit_id":"932a4614cff64add29f4f4acaa99172043eacc52","original_commit_id":"932a4614cff64add29f4f4acaa99172043eacc52","user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"body":"do these changes fix https://github.com/ipa320/cob_robots/issues/231?\r\nPlease apply to all robots....","created_at":"2015-10-30T15:31:31Z","updated_at":"2015-10-30T15:31:31Z","html_url":"https://github.com/ipa320/cob_robots/pull/331#discussion_r43515285","pull_request_url":"https://api.github.com/repos/ipa320/cob_robots/pulls/331","_links":{"self":{"href":"https://api.github.com/repos/ipa320/cob_robots/pulls/comments/43515285"},"html":{"href":"https://github.com/ipa320/cob_robots/pull/331#discussion_r43515285"},"pull_request":{"href":"https://api.github.com/repos/ipa320/cob_robots/pulls/331"}}},"pull_request":{"url":"https://api.github.com/repos/ipa320/cob_robots/pulls/331","id":45649638,"html_url":"https://github.com/ipa320/cob_robots/pull/331","diff_url":"https://github.com/ipa320/cob_robots/pull/331.diff","patch_url":"https://github.com/ipa320/cob_robots/pull/331.patch","issue_url":"https://api.github.com/repos/ipa320/cob_robots/issues/331","number":331,"state":"open","locked":false,"title":"[WIP] Allow multi-robot 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