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 | 1 | initial version |
Hi, Kaiyu Zheng provides a good disucssion on this topic in his guide "ROS Navigation Tuning Guide". Check out pages 11 & 12. Download the PDF of this guide HERE.
In short, increase your inflation_radius and decrease your cost_scaling_factor parameters in your local_costmap_params.yaml. I am using inflation_radius = 1.0 and cost_scaling_factor = 2.5.
This way, the planner will prefers paths as far away from both walls as possible as this will be minimise the cost.
| | 2 | No.2 Revision |
Hi, Kaiyu Zheng provides a good disucssion on this topic in his guide "ROS Navigation Tuning Guide". Check out pages 11 & 12. Download the PDF of this guide HERE.
In short, increase your inflation_radius and decrease your cost_scaling_factor parameters in your local_costmap_params.yaml. I am using inflation_radius = 1.0 and cost_scaling_factor = 2.5.
This way, the planner will prefers paths as far away from both walls as possible as this will be minimise the cost.
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