From c4b909ba93644b87cf3b0913385116f9406524b4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 22 Aug 2023 10:49:54 +0200
Subject: [PATCH] up inflation radius to 0.33

---
 config/ekf.yaml         | 2 +-
 config/nav2_params.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/config/ekf.yaml b/config/ekf.yaml
index 08e8972..89f9e91 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -35,7 +35,7 @@ ekf_filter_node:
         odom0: /odom
         # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
         # Configure it for x,y,z,vyaw on the odom topic
-        odom0_config: [true , true , false,
+        odom0_config: [false , false , false,
                        false, false, true,
                        false, false, false,
                        false, false, true,
diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index aa7de9f..f9fc4c5 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -212,7 +212,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 15.0 # was 3.0
-        inflation_radius: 0.22
+        inflation_radius: 0.33
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True