[ros-users] Costmap2D Inflation Radius Maximum

Eitan Marder-Eppstein eitan at willowgarage.com
Tue May 25 18:34:40 UTC 2010


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,


On Tue, May 25, 2010 at 11:29 AM, Eric Perko <wisesage5001 at gmail.com> 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
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