From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Fri, 29 Dec 2023 19:54:00 +0000 (-0300)
Subject: calibrate costmap
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=ede17af8afee44e8341eb6facd763a1894f2f2c5;p=twil.git

calibrate costmap
---

diff --git a/twil_2dnav/config/planner_params.yaml b/twil_2dnav/config/planner_params.yaml
index 9bfb6b7..368902d 100644
--- a/twil_2dnav/config/planner_params.yaml
+++ b/twil_2dnav/config/planner_params.yaml
@@ -38,6 +38,6 @@ global_costmap:
           obstacle_min_range: 0.0
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.35
+        cost_scaling_factor: 4.0
+        inflation_radius: 2.0
       always_send_full_costmap: True
diff --git a/twil_2dnav/config/twil_2dnav.rviz b/twil_2dnav/config/twil_2dnav.rviz
index 466df50..faecdeb 100644
--- a/twil_2dnav/config/twil_2dnav.rviz
+++ b/twil_2dnav/config/twil_2dnav.rviz
@@ -705,11 +705,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 41.62940216064453
+      Scale: 55
       Target Frame: twil_origin
       Value: TopDownOrtho (rviz_default_plugins)
-      X: 0.8133240938186646
-      Y: 0.01098377350717783
+      X: 0
+      Y: 0
     Saved: ~
 Window Geometry:
   Camera Color: