X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=3dfcf594d94e7c24227cc543864b3003c71cd359;hp=dde44ae674fb6d8fa098ae218e330edd6b385d06;hb=e8230ee2c5fdd15175bce8ba99df2b686b56306d;hpb=54a59e74352041bdda72f2eea2cab24683f0e16a

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index dde44ae..3dfcf59 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -8,4 +8,6 @@ global_costmap:
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
 inflation_layer:
-  inflation_radius: 0.25
+  # low slope decay curve
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58