global_costmap:
global_frame: /map
robot_base_frame: base_footprint
- update_frequency: 5.0
static_map: true
+ publish_frequency: 1.0
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