From 786a892afbec695245354cfcfbb2ad151308b51b Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Tue, 15 Mar 2022 17:12:27 -0700 Subject: [PATCH] Reduce robot/inflation radius for Stretch Navigation --- stretch_navigation/config/common_costmap_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/stretch_navigation/config/common_costmap_params.yaml b/stretch_navigation/config/common_costmap_params.yaml index 9bc0825..13fbdd9 100644 --- a/stretch_navigation/config/common_costmap_params.yaml +++ b/stretch_navigation/config/common_costmap_params.yaml @@ -1,7 +1,7 @@ obstacle_range: 2.5 raytrace_range: 3.0 -robot_radius: 0.5 -inflation_radius: 0.55 +robot_radius: 0.2 +inflation_radius: 0.22 observation_sources: laser_scan_sensor