ellensohn/cps_rmp220_support
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up inflation radius to 0.33

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This commit is contained in:
Björn Ellensohn 2023-08-22 10:49:54 +02:00
parent 27e03194b8
commit c4b909ba93
2 changed files with 2 additions and 2 deletions
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2
config/ekf.yaml
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@ -35,7 +35,7 @@ ekf_filter_node:
odom0: /odom 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. # 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 # 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, true,
false, false, false, false, false, false,
false, false, true, false, false, true,

2
config/nav2_params.yaml
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@ -212,7 +212,7 @@ local_costmap:
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: 15.0 # was 3.0
inflation_radius: 0.22 inflation_radius: 0.33
voxel_layer: voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer" plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True enabled: True