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HiepLM
2025-12-05 11:12:17 +07:00
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config/costmap_global_params.yaml Executable file
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global_costmap:
global_frame: map
update_frequency: 1.0
publish_frequency: 1.0
raytrace_range: 2.0
resolution: 0.05
z_resolution: 0.2
rolling_window: false
z_voxels: 10
inflation:
cost_scaling_factor: 10.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
inflation_radius: 0.6 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.