From ad0311807979b2ce15b9172c0cdbe538f4290bdb Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Mon, 12 Sep 2022 14:20:55 -0700 Subject: [PATCH] Changed footprint and inflation size. --- 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 0f2b99b..7f948dc 100644 --- a/stretch_navigation/config/common_costmap_params.yaml +++ b/stretch_navigation/config/common_costmap_params.yaml @@ -2,9 +2,9 @@ obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[0.05, 0.17], [0.05, -0.17], [-0.17, -0.17], [-0.27, -0.06], [-0.27, 0.06], [-0.17, 0.17]] -footprint_padding: 0.015 +footprint_padding: 0.025 # robot_radius: 0.2 -inflation_radius: 0.2 +inflation_radius: 0.15 observation_sources: laser_scan_sensor