Revision history [back]

I don't see some parameters that I know of in costmap_common_params that would help you in the cost map: cost_scaling_factor and inflation_radius. I would throw these parameters in an inflation layer namespace. So it would look something like this in your .yaml file:

   inflation_layer:
      enabled:             true
      cost_scaling_factor: 10 #default value; for my work, I have been using values between 40-50
      inflation_radius:    0.55 #default value; for my work, I have been using values between 0.8-1.0

There are plenty of other parameters you can add in to get the costmap working the way you need it to. I would do some research here and read up on what other parameters you may want to add in rather than using the defaults: http://wiki.ros.org/costmap_2d/flat and http://wiki.ros.org/costmap_2d/hydro/inflation