From 703d0be075b80313ed5a70e59a883ed3fcdc28c3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 23 Aug 2023 09:01:44 +0200 Subject: [PATCH] changed cost scaling factor --- config/nav2_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index ab5b72f..89e33a8 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -211,7 +211,7 @@ local_costmap: enabled: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 15.0 # was 3.0 + cost_scaling_factor: 8.0 # was 3.0 inflation_radius: 0.44 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" @@ -273,7 +273,7 @@ global_costmap: map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 15.0 # was 3.0 + cost_scaling_factor: 8.0 # was 3.0 inflation_radius: 0.44 always_send_full_costmap: True