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
+ track_unknown_space: true