Launch files

$ roslaunch turtle_gazebo turtle_world.launch 
$ roslaunch turtle_navigation nav_stack.launch  

Cliff Sensors

1. Front
2. Back
3. Left 30 deg
4. Left 50 deg
5. Right 30 deg
6. Right 50 deg

Cliff data configuration parameters

• cliff_mark_threshold - Threshold for IR ranges above which to be considered as cliffs.
• cliff_mark_distance - Range that should be published if a cliff is detected.