Hi Eitan, I took a look at the paths generated for the robot and it still seems to be getting right up to the inflation shown in rviz when I simulate with Stage, even with a 4.5 meter inflation radius set. 4.5 is more than I'd like to actually use, but I definitely should have seen a difference between plans generated with a 1.5 meter radius and a 4.5 meter radius; I did not. Please find my my stage simulation launch files and my world files (in two separate packages) at http://mobilerobots.case.edu/files/cwru_ros.7z. The top level launch file I'm currently working with is harlie_sim_stage/BensSim.launch. I am correct in my interpretation that, as long as there is free space, the origin of the robot footprint should never come within the inflation radius of an obstacle? It seems to be following the edge of the displayed inflated obstacles no matter what inflation radius I set... did we just mess up our configuration someplace? Or do I have to inflate the robot footprint in order to actually get a larger amount of obstacle clearance? Thanks Eric On Tue, May 25, 2010 at 2:34 PM, Eitan Marder-Eppstein wrote: > Eric, > The rviz visualization for obstacle inflation only shows obstacle inflation > out to the inscribed radius of the robot. An inflation radius of 4.5 meters > will propagate costs out further, but the rviz display won't change assuming > you're using the same robot. You should, however, see a difference in the > plans that navigation makes. > Hope this helps, > Eitan > On Tue, May 25, 2010 at 11:29 AM, Eric Perko wrote: >> >> Hey all, >> >> Is there a maximum inflation radius for costmap_2d? I'm able to set a >> radius of about 1.5 meters and it seems to be correct, but when I try >> to set a larger value (such as 4.5 meters) to make sure it is >> inflating properly and test my navigation setup, rviz's display for >> the inflated obstacles doesn't change. Is there a maximum size to the >> inflation radius? >> >> Thanks >> Eric Perko >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >