ellensohn/cps_rmp220_support
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changed cost scaling factor

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This commit is contained in:
Björn Ellensohn 2023-08-23 09:01:44 +02:00
parent 0608d4f2b5
commit 703d0be075
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -211,7 +211,7 @@ local_costmap:
enabled: True enabled: True
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" 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 inflation_radius: 0.44
voxel_layer: voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer" plugin: "nav2_costmap_2d::VoxelLayer"
@ -273,7 +273,7 @@ global_costmap:
map_subscribe_transient_local: True map_subscribe_transient_local: True
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" 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 inflation_radius: 0.44
always_send_full_costmap: True always_send_full_costmap: True