From a48adef3614f343b0ecd60ca79920dc9ada7ced1 Mon Sep 17 00:00:00 2001
From: Luis Luna <luisluna12@utexas.edu>
Date: Fri, 17 Apr 2026 20:18:19 -0500
Subject: [PATCH] Add frontleft, frontright, left, and right pointcloud sources
 for navigation

---
 spot_navigation/config/spot.yaml | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/spot_navigation/config/spot.yaml b/spot_navigation/config/spot.yaml
index f5d8e84..421abef 100644
--- a/spot_navigation/config/spot.yaml
+++ b/spot_navigation/config/spot.yaml
@@ -261,7 +261,7 @@ spot_nav/local_costmap:
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
-        observation_sources: velodyne
+        observation_sources: velodyne frontleft frontright left right
         velodyne:
           topic: /velodyne_points
           min_obstacle_height: 0.20
@@ -269,6 +269,34 @@ spot_nav/local_costmap:
           clearing: True
           marking: True
           data_type: "PointCloud2"
+        frontleft:
+          topic: /spot_pointclouds/frontleft_points
+          min_obstacle_height: 0.20
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+        frontright:
+          topic: /spot_pointclouds/frontright_points
+          min_obstacle_height: 0.20
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+        left:
+          topic: /spot_pointclouds/left_points
+          min_obstacle_height: 0.20
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+        right:
+          topic: /spot_pointclouds/right_points
+          min_obstacle_height: 0.20
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True