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Inflation Costmap Plugin

Inflation

costmap_2d/costmapspec.png

Inflation is the process of propagating cost values out from occupied cells that decrease with distance. For this purpose, we define 5 specific symbols for costmap values as they relate to a robot.

The rationale behind these definitions is that we leave it up to planner implementations to care or not about the exact footprint, yet give them enough information that they can incur the cost of tracing out the footprint only in situations where the orientation actually matters.

ROS API

Parameters

~<name>/inflation_radius (double, default: 0.55)

~<name>/cost_scaling_factor (double, default: 10.0)

2019-12-07 12:32