X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=3dfcf594d94e7c24227cc543864b3003c71cd359;hb=be32db6e215b3db0f6776dcfd579a7c93c5caf0a;hp=9ea3b6cedbb8e19483f96fc1cea503fae4cbc4d6;hpb=860e5f83d540d60b46f4a0f242f007dfd1c0747d;p=ros_wild_thumper.git

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 9ea3b6c..3dfcf59 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -5,5 +5,9 @@ global_costmap:
   static_map: true
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
-  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+inflation_layer:
+  # low slope decay curve
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58