X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fglobal_costmap_params.yaml;h=eb3e89cd18cce0e4705e133ad49d20155307eb99;hp=9ea3b6cedbb8e19483f96fc1cea503fae4cbc4d6;hb=78385af76591e5fa2c228f7e53c3b7f2fc2092d6;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 9ea3b6c..eb3e89c 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,9 +1,12 @@
 global_costmap:
   global_frame: /map
   robot_base_frame: base_footprint
-  update_frequency: 5.0
   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