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=dde44ae674fb6d8fa098ae218e330edd6b385d06;hb=e8c2719dce145ad9f2a451849c722ca06c8ef1a6;hpb=edfbc2e2283bc5c482eb61307551ee92569fa4e1

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index dde44ae..5bb308d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -7,5 +7,7 @@ global_costmap:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
-inflation_layer:
-  inflation_radius: 0.25
+  inflation_layer:
+    # low slope decay curve
+    inflation_radius: 1.75
+    cost_scaling_factor: 2.58