Better/New Inflation Parameters #13
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… costmap parameters
…ts to the parameters. Removed unused map files
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Added new parameters introduced in naturerobots/mesh_navigation#82 . With these parameters the robot prefers to plan far away from obstacles, if possible. I also noticed that there are a lot of unused maps in the "maps" directory. In the future, I'd like to add some maps to systematically test how robust we are against certain differences between the robot's map and the simulation (or real-world) map. However, this will most likely be moved into another package, so I've removed them here. |
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This PR
cost_scaling_factorto the inflation layerDepthin the RViz config so that RViz gets more robust in receiving dynamic changes of the mesh cost layers (e.g. via rqt_reconfigure)