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