ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-05 11:13:03 +02:00
parent 8c5b62ba84
commit afccef6eec
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -196,7 +196,7 @@ local_costmap:
plugins: ["voxel_layer", "inflation_layer"] plugins: ["voxel_layer", "inflation_layer"]
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0 cost_scaling_factor: 5.0 # was 3.0
inflation_radius: 0.55 inflation_radius: 0.55
voxel_layer: voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer" plugin: "nav2_costmap_2d::VoxelLayer"
@ -266,7 +266,7 @@ 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: 3.0 cost_scaling_factor: 5.0 # was 3.0
inflation_radius: 0.55 inflation_radius: 0.55
always_send_full_costmap: True always_send_full_costmap: True