X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fnav_close_to_obstacles.yaml;fp=config%2Fnav_close_to_obstacles.yaml;h=a433fd205ac1d532cf00ea09b5eba135d1f17fc9;hp=0000000000000000000000000000000000000000;hb=b6377c70569f9df0256dd67d10d3f3905330f802;hpb=2df437a779847070d89c37f8f79776acc5446193

diff --git a/config/nav_close_to_obstacles.yaml b/config/nav_close_to_obstacles.yaml
new file mode 100644
index 0000000..a433fd2
--- /dev/null
+++ b/config/nav_close_to_obstacles.yaml
@@ -0,0 +1,9 @@
+TrajectoryPlannerROS:
+  occdist_scale: 0.01
+  path_distance_bias: 1.2
+
+local_costmap:
+  resolution: 0.01
+
+global_costmap:
+  inflation_radius: 0.2