This is how the costmap looks right now. The yellow stuff has the value 254. The blue stuff has the value 253. I want to expand the portions of value 253, but no matter what parameters I change in

• baselocalplanner_params.yaml
• costmapcommonparams.yaml
• localcostmapparams.yaml
• globalcostmapparams.yaml

Nothing changes in rviz. Parameters right now are:

maxvelx: 0.2 minvelx: 0.0

maxvely: 0.0 minvely: 0.0

maxtransvel: 0.2 mintransvel: 0.0

maxrotvel: 0.3 minrotvel: 0.05

simtime: 2.0 simgranularity: 0.025

goaldistancebias: 32
pathdistancebias: 25
occdist_scale: 0.001

stoptimebuffer: 0.2
oscillationresetdist: 0.1

forwardpointdistance: 0.2

scalingspeed: 0.25
maxscaling_factor: 0.2

vxsamples: 10 vysamples: 10
vtheta_samples: 20

sim_period: 0.1

xygoaltolerance: 0.2
yawgoaltolerance: 0.2

rotstoppedvel: 0.0
transstoppedvel: 0.01

---

obstacle_range: 6.5

raytrace_range: 6.0

inflation_radius: 2

costscalingfactor: 0.5

robot_radius: 1

maxobstacleheight: 1.7

minobstacleheight: 1.0

observation_sources: scan

scan: {datatype: PointCloud2, topic: /velodynepointsbase, marking: true, clearing: true, expectedupdate_rate: 0}

---

global_costmap:

global_frame: /map

robotbaseframe: /base_link

update_frequency: 2.0

publish_frequency: 2.0

static_map: true

rolling_window: false

resolution: 0.05

transform_tolerance: 2.0

map_type: costmap

width: 30.0

height: 30.0

plugins:

  - {name: static_map,              type: "costmap_2d::StaticLayer"}  

  - {name: obstacles,               type: "costmap_2d::VoxelLayer"} 

  - {name: scancalssifier_layer,    type: "scan_classifier_layer_namespace::ScanClassifierLayer"}  

  - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}  

local_costmap:

global_frame: /map

robotbaseframe: /base_link

update_frequency: 2.0

publish_frequency: 2.0

static_map: true

rolling_window: false

width: 2.0

height: 2.0

resolution: 0.05

transform_tolerance: 2.0