# Revision history [back]

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
cost_scaling_factor: 1.0


You should have this in each global and local costmap files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map

footprint: [[-1.5, -1.1], [-1.5, 1.1], [1.5, 1.1], [1.5,-1.1]]

plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}

inflater_layer:
cost_scaling_factor: 2.0


the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
0.5
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map

footprint: [[-1.5, -1.1], [-1.5, 1.1], [1.5, 1.1], [1.5,-1.1]]

plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}

inflater_layer:
0.5
cost_scaling_factor: 2.0
1.0


If you want to have the same inflation for both global and local costmap then you put the params in the common_costmap file like it is shown above.

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map
map_topic: /map

footprint: [[-1.5, -1.1], [-1.5, 1.1], [1.5, 1.1], [1.5,-1.1]]
[[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]

plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}

inflater_layer:
cost_scaling_factor: 1.0


If you want to have the same inflation for both global and local costmap then you put the params in the common_costmap file like it is shown above.

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
0.2
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map
map_topic: /map

footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
0.03

plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}

inflater_layer:
0.2
cost_scaling_factor: 1.0


If you want to have the same inflation for both global and local costmap then you put the params in the common_costmap file like it is shown above.

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map
map_topic: /map

footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]

plugins:
- {name: static_map, static_layer, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}


obstacles_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true, obstacle_range: 6.0, raytrace_range: 8.5}

inflater_layer:
cost_scaling_factor: 1.0


If you want to have the same inflation for both global and local costmap then you put the params in the common_costmap file like it is shown above.

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map

footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]

plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}


obstacles_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true, obstacle_range: 6.0, raytrace_range: 8.5}

inflater_layer:
cost_scaling_factor: 1.0


If you want to have the same inflation for both global and local costmap then you put the params in the common_costmap file like it is shown above.

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map

base_link footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]

0.03 plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
"costmap_2d::StaticLayer"} - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}  {name: inflater_layer, type: "costmap_2d::InflationLayer"}

"costmap_2d::InflationLayer"}

obstacles_layer:

# laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true, obstacle_range: 6.0, raytrace_range: 8.5}



inflater_layer: inflation_radius: 0.2 cost_scaling_factor: 1.0 1.0

If you want to have the same inflation for both global and local costmap then you put the params in the common_costmap file like it is shown above.

the inflation_radius and cost_saling_factor parameters should go under the inflater_layer in both global and local costmap params files like this:

  inflater_layer:
cost_scaling_factor: 1.0


You should have this in each global and local costmap param files only if you want different inflation for them.

You should still use the cosmtap_common_params file since it is there that you usually put the frame, footprint and plugins params. For example in your cosmtap_common_params you should have something like this:

global_frame: map

footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]

plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"} "costmap_2d::StaticLayer"}
# - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}  "costmap_2d::ObstacleLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}  "costmap_2d::InflationLayer"}

static_layer:
map_topic: /map