From 51fd1d5e64989039c0c49d97f8ec3354279e0860 Mon Sep 17 00:00:00 2001
From: Nathan Wright <nathanwrightbusiness@gmail.com>
Date: Mon, 16 Aug 2021 08:52:46 -0400
Subject: [PATCH] changed range for lidar to make it not detect itself

---
 stretch_gazebo/urdf/stretch_gazebo.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/stretch_gazebo/urdf/stretch_gazebo.urdf.xacro b/stretch_gazebo/urdf/stretch_gazebo.urdf.xacro
index d7ad7e7..0bc96b3 100644
--- a/stretch_gazebo/urdf/stretch_gazebo.urdf.xacro
+++ b/stretch_gazebo/urdf/stretch_gazebo.urdf.xacro
@@ -258,7 +258,7 @@
             </horizontal>
           </scan>
           <range>
-            <min>0.08</min>
+            <min>0.2</min>
             <max>12.0</max>
             <resolution>0.01</resolution>
           </range>
@@ -294,7 +294,7 @@
             </horizontal>
           </scan>
           <range>
-            <min>0.08</min>
+            <min>0.2</min>
             <max>12.0</max>
             <resolution>0.01</resolution>
           </range>