Adapt navigation config to more trustworthy IMU

[ros_wild_thumper.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index dde44ae674fb6d8fa098ae218e330edd6b385d06..3dfcf594d94e7c24227cc543864b3003c71cd359 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -8,4 +8,6 @@ global_costmap:
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
 inflation_layer:
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
 inflation_layer:

-  inflation_radius: 0.25
+  # low slope decay curve
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58