diff --git a/src/grudsby_costmap/config/local_costmap.yaml b/src/grudsby_costmap/config/local_costmap.yaml
index 034dbf0..6a1c4ba 100644
--- a/src/grudsby_costmap/config/local_costmap.yaml
+++ b/src/grudsby_costmap/config/local_costmap.yaml
@@ -7,9 +7,9 @@ local_costmap:
   rolling_window: true
   track_unknown_space: false
   inf_is_valid: true
-  height: 6.0
-  width: 6.0
+  height: 2.0
+  width:  11
 
   plugins:
-    - {name: obstacles_laser_local,           type: "costmap_2d::ObstacleLayer"}
-    - {name: inflation,                 type: "costmap_2d::InflationLayer"}
+    - {name: obstacles_laser_local,  type: "costmap_2d::ObstacleLayer"}
+    - {name: inflation_dymamic,      type: "costmap_2d::InflationLayer"}
diff --git a/src/grudsby_costmap/config/shared_costmap.yaml b/src/grudsby_costmap/config/shared_costmap.yaml
index 47dc4b3..558a6ec 100644
--- a/src/grudsby_costmap/config/shared_costmap.yaml
+++ b/src/grudsby_costmap/config/shared_costmap.yaml
@@ -89,3 +89,7 @@ obstacles_laser_local:
 inflation:
     inflation_radius: 1.0
     cost_scaling_factor: 1.0 
+
+inflation_dynamic:
+    inflation_radius: 0.1
+    cost_scaling_factor: 1.0 
diff --git a/src/grudsby_launch/launch/dynamic.launch b/src/grudsby_launch/launch/dynamic.launch
index 656059b..f558cd3 100644
--- a/src/grudsby_launch/launch/dynamic.launch
+++ b/src/grudsby_launch/launch/dynamic.launch
@@ -20,7 +20,7 @@ Grudsby will stop if an obstacle is encountered
   <!-- GPS launch file-->
   <!--<include file="$(find nmea_navsat_driver)/launch/launch_nmea_driver.launch"/>  -->
   <node pkg="grudsby_tools" type="gps_spoofer.py" name="gps_spoofer"/>
-<node pkg="grudsby_costmap" type="obstacles.py" name="obstacles"/> -->
+  <node pkg="grudsby_costmap" type="obstacles.py" name="obstacles"/> -->
 
 <!-- Navigation nodes -->
   <include file="$(find grudsby_localization)/launch/grudsby_localization_ekf.launch"/>
@@ -68,6 +68,9 @@ Grudsby will stop if an obstacle is encountered
   </node>
   
   <node pkg="scan_filter" type="scan_inf_repeater.py" name="scan_inf_repeater"/>
+  <rosparam>
+    clip_scan : True
+  </rosparam>
 <!-- 
 	<node name="gucci_gang" pkg="gucci_gang" type="gucci_gang"/>
 -->
diff --git a/src/grudsby_vision/scan_filter/scripts/scan_inf_repeater.py b/src/grudsby_vision/scan_filter/scripts/scan_inf_repeater.py
index 30d6663..d34b955 100755
--- a/src/grudsby_vision/scan_filter/scripts/scan_inf_repeater.py
+++ b/src/grudsby_vision/scan_filter/scripts/scan_inf_repeater.py
@@ -8,11 +8,12 @@
 
 from sensor_msgs.msg import LaserScan
 
-MAX_RANGE =  8
+MAX_RANGE =  4.1
 
 class DiffTf:
     def __init__(self):
         rospy.init_node("scan_repeater")
+        self.clip_range = rospy.get_param("clip_scan",False)
         self.nodename = rospy.get_name()
         rospy.loginfo("-I- %s started" % self.nodename)
         self.rate = 100
@@ -51,7 +52,11 @@ def laserResponseCallback(self, msg):
         for i in range ( window_size , len ( fix_nans )-window_size ):
             neighborhood = fix_nans [ i-window_size : i + window_size + 1] 
             neighborhood.sort ( )
-            output [ i ] = neighborhood [ int (  math.floor ( window_size / 2 )  ) ]
+            if self.clip_range:
+              output [ i ] = min ( MAX_RANGE , 
+                neighborhood [ int (  math.floor ( window_size / 2 )  ) ] )
+            else:
+              output [ i ] = neighborhood [ int (  math.floor ( window_size / 2 )  ) ]
 
         cloud_out.ranges = tuple (output) 
         self.laserPub.publish(cloud_out)