X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=5bb308db66f22f0b6c874f6d335bbc9f9d66f509;hp=3015ff08c5c129d2834768eaa523399ed543a3b5;hb=3e393a12f0aea0302fefa4616dcd93c1b3bf6299;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 3015ff0..5bb308d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -6,3 +6,8 @@ global_costmap:
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+  inflation_layer:
+    # low slope decay curve
+    inflation_radius: 1.75
+    cost_scaling_factor: 2.58