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=9ea3b6cedbb8e19483f96fc1cea503fae4cbc4d6;hb=f1096738b1cb44e0abdb7e85ddd66cc44a48323a;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 9ea3b6c..5bb308d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -5,5 +5,9 @@ global_costmap:
   static_map: true
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
-  - {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