Hi, All,

the path planner on my robot always plan paths too close to obstacles. each time the robot walks around the obstacle would hit the lethal areas on the costmap and therefore triggers in place rotation action.

here's my costmap settings

obstacle_range: 5.4
raytrace_range: 5.5
transform_tolerance: 2.0
footprint: [[0.75,0.4], [0.8, 0], [0.75, -0.4],[-0.75, -0.4], [-0.75, 0.4]]

inflation_radius: 2.0

footprint_padding: 0.01
cost_scaling_factor: 8
lethal_cost_threshold: 150

how to set the costmap such way that the planned path is distant away from the obstacles? what are the parameters I can play away? I am using TrajectoryPlannerROS for local path planning and NavfnROS for global path planning.

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here's the parameters for movebase, inflationradius seems set properly

move_base:
  NavfnROS: {allow_unknown: false}
  TrajectoryPlannerROS: {acc_lim_th: 0.2, acc_lim_theta: 0.2, acc_lim_x: 0.2, acc_lim_y: 0.0,
    allow_unknown: false, angular_sim_granularity: 0.3, dwa: false, escape_reset_dist: 0.1,
    escape_reset_theta: 1.57079632679, escape_vel: -0.1, gdist_scale: 0.8, global_frame_id: world,
    heading_lookahead: 2.0, heading_scoring: false, heading_scoring_timestep: 0.1,
    holonomic_robot: false, max_in_place_rotational_vel: 0.1, max_rotational_vel: 0.4,
    max_vel_theta: 0.4, max_vel_x: 0.6, min_in_place_rotational_vel: -0.1, min_in_place_vel_theta: 0.1,
    min_rotational_vel: -0.4, min_vel_theta: -0.4, min_vel_x: 0.05, occdist_scale: 0.01,
    oscillation_reset_dist: 0.05, pdist_scale: 0.6, restore_defaults: false, sim_granularity: 0.3,
    sim_time: 4.2, simple_attractor: false, vtheta_samples: 20, vx_samples: 20, xy_goal_tolerance: 0.5,
    y_vels: '-0.3,-0.1,0.1,-0.3', yaw_goal_tolerance: 0.5}
   aggressive_reset: {reset_distance: 1.84}
   base_global_planner: navfn/NavfnROS
   base_local_planner: base_local_planner/TrajectoryPlannerROS
   clearing_rotation_allowed: false
   conservative_reset: {reset_distance: 3.0}
   conservative_reset_dist: 3.0
   controller_frequency: 20.0
   controller_patience: 5.0
   global_costmap:
    allow_unknown: false
    footprint: '[[0.9,0.8],[1,0],[0.9,-0.8],[-0.8,-0.8],[-0.8,0.8]]'
    footprint_padding: 0.01
    global_frame: /world
    height: 200
    inflation_layer: {cost_scaling_factor: 7.0, enabled: true, inflation_radius: 3.0,
      robot_radius: 0.46}
    obstacle_layer:
      combination_method: 1
      enabled: true
      laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: base_laser,
        topic: scan}
      max_obstacle_height: 2.0
      observation_sources: laser_scan_sensor
      obstacle_range: 5.4
      raytrace_range: 5.5
      track_unknown_space: true
    obstacle_layer_footprint: {enabled: true}
    origin_x: -100.0
    origin_y: -100.0
    plugins:
    - {name: static_layer, type: 'costmap_2d::StaticLayer'}
    - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
    - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
    publish_frequency: 0.0
    resolution: 0.05
    robot_base_frame: base_link
    robot_radius: 0.46
    static_layer: {enabled: true, lethal_cost_threshold: 160, track_unknown_space: true}
    static_map: true
    transform_tolerance: 5.0
    update_frequency: 0.2
    width: 200
  local_costmap:
    allow_unknown: false
    footprint: '[[0.9,0.8],[1,0],[0.9,-0.8],[-0.8,-0.8],[-0.8,0.8]]'
    footprint_padding: 0.01
    global_frame: /base_odom
    height: 12
    inflation_layer: {cost_scaling_factor: 7.0, enabled: true, inflation_radius: 3.0,
      robot_radius: 0.46}
    lethal_cost_threshold: 160
    obstacle_layer:
      combination_method: 1
      enabled: true
      laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: base_laser,
        topic: scan}
      max_obstacle_height: 2.0
      observation_sources: laser_scan_sensor
      obstacle_range: 5.4
      raytrace_range: 5.5
      track_unknown_space: false
    obstacle_layer_footprint: {enabled: true}
    origin_x: -100.0
    origin_y: -100.0
    plugins:
    - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
    - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
    publish_frequency: 5.0
    resolution: 0.05
    robot_base_frame: base_link
    robot_radius: 0.46
    rolling_window: true
    static_map: false
    transform_tolerance: 1.0
    update_frequency: 2.0
    width: 12
  oscillation_distance: 0.5
  oscillation_timeout: 0.0
  planner_frequency: 0.0
  planner_patience: 5.0
  recovery_behavior_enabled: true
  restore_defaults: false
  shutdown_costmaps: false
robot_pose_ekf: {debug: false, freq: 10.0, imu_used: true, odom_used: true, output_frame: base_odom,
  publish_tf: false, self_diagnose: false, sensor_timeout: 1.0, vo_used: false}
rosdistro: 'hydro