navigation stack tuning
[ros_wild_thumper.git] / config / global_costmap_params.yaml
index 3e1fd1d..d44e361 100644 (file)
@@ -1,17 +1,14 @@
 global_costmap:
   global_frame: map
   robot_base_frame: base_footprint
-  static_map: true
   publish_frequency: 1.0
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
-  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  #- {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
+    inflation_radius: 0.4 # plan distance around corners
 
   obstacle_layer:
     combination_method: 0 # overwrite