[ros-users] Costmap2D Inflation Radius Maximum

[Eric Perko]

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
<eitan at willowgarage.com> 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 <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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>
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