Inflation Layer Parameters

This layer places an exponential decay functions around obstacles to increase cost to traverse near collision. It also places a lethal cost around obstacles within the robot’s fully inscribed radius - even if a robot is non-circular for optimized first-order collision checking.

<inflation layer> is the corresponding plugin name selected for this type.

<inflation layer>.enabled

Type	Default
bool	True

Description

Whether it is enabled.

<inflation layer>.inflation_radius

Type	Default
double	0.55

Description

Radius to inflate costmap around lethal obstacles.

<inflation layer>.cost_scaling_factor

Type	Default
double	10.0

Description

Exponential decay factor across inflation radius.

<inflation layer>.inflate_unknown

Type	Default
bool	False

Description

Whether to inflate unknown cells as if lethal.

<inflation layer>.inflate_around_unknown

Type	Default
bool	False

Description

Whether to inflate unknown cells.