X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=332d53341f77ae3becb2c199fe6e7add6897448f;hp=3e1fd1d764713d2cedf3883339e36494f4bcb447;hb=99dd1e1236d58a4ee9c93de7124afd83b2f2c141;hpb=2df437a779847070d89c37f8f79776acc5446193

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 3e1fd1d..332d533 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,7 +1,6 @@
 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'}
@@ -9,10 +8,9 @@ global_costmap:
   - {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
+    enabled: false