removed inflation layer

logivations · Dec 10, 2020 · bcdbceb · bcdbceb
1 parent 597f00d
commit bcdbceb
Showing 1 changed file with 1 addition and 5 deletions.
diff --git a/nav2_bringup/bringup/params/forklift_params.yaml b/nav2_bringup/bringup/params/forklift_params.yaml
@@ -202,18 +202,14 @@ global_costmap:
       footprint: "[[1.8, 0.4], [1.8, -0.4], [-0.2, -0.4], [-0.2, 0.4]]"
       map_topic: /costmap_node/map
       track_unknown_space: false
-      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      plugins: ["static_layer", "obstacle_layer"]
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: false
         observation_sources: scan
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: False
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
       always_send_full_costmap: True
   global_costmap_client:
     ros__parameters: