- //ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
- //ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
- //ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
- //ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
-
- ShmapSetRectangleFlag(0.6, 1.45, 2.45, 2.1, MAP_FLAG_WALL, 0); /* plateau, slopes */
+ ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
+ ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
+ ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
+ ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
+
+ /* Small walls that cannot be detected by hokuyo */
+ ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);