Hello,

I am using ROS2 Foxy's Nav2 for navigation of an indoor robot.

I was trying to tune some parameters of both "globalcostmap" and "localcostmap" nodes. Both these nodes have what is called "inflationlayer," with a parameter named "inflationradius".

When these nodes are running, I can see their parameters and I can change their parameters using ROS2 standard commands. I also used rqt_reconfigure for the same purpose, and can verify that the parameters do change.

Here is the problem: I have changed the node parameter "inflationradius" for both nodes. However, looking at the globalcostmap and local_costmap presentation on Rviz2, the inflation layer does not expand or shrink.

I am allowed to change Nav2 parameters on the fly for (almost) immediately?

Thanks, F.F