wt_node: Implement docking check

[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..5bb308db66f22f0b6c874f6d335bbc9f9d66f509 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -7,5 +7,7 @@ global_costmap:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
-inflation_layer:
-  inflation_radius: 0.25
+  inflation_layer:
+    # low slope decay curve
+    inflation_radius: 1.75
+    cost_scaling_factor: 2.58