navigation stack tuning

[ros_wild_thumper.git] / config / nav_close_to_obstacles.yaml

diff --git a/config/nav_close_to_obstacles.yaml b/config/nav_close_to_obstacles.yaml
new file mode 100644 (file)
index 0000000..a433fd2
--- /dev/null
+++ b/config/nav_close_to_obstacles.yaml
@@ -0,0 +1,9 @@
+TrajectoryPlannerROS:
+  occdist_scale: 0.01
+  path_distance_bias: 1.2
+
+local_costmap:
+  resolution: 0.01
+
+global_costmap:
+  inflation_radius: 0.2