kinect laser costmap_common_params.yaml

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Hi everybody.

Just wondering what is the best way to configure costmap_common_params.yaml for the navigation stack to use kinect and laser using voxel mapa type.

Well, I just want to use the advantages of the Xtion Pro to detect obstacles in 3d and the advantages of the laser wide field of view in the navigation stack.

I am thinking about use the laser and the fake kinect and use them in the costmap2d, but I am not sure how good this approach can be.

In other words, which approach is better for the navigation stack? and if you have an example of costmap_common_params.yaml would be great :)

Cheers