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Better/New Inflation Parameters #13

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Better/New Inflation Parameters #13

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c84c0b6
Increased depth to allow RViz to more robustly receive changes in the…
amock Jul 7, 2025
348fc9a
added new parameter 'cost_scaling_factor'. Added better radii for inf…
amock Jul 7, 2025
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11 changes: 6 additions & 5 deletions mesh_navigation_tutorials/config/mbf_mesh_nav.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ move_base_flex:
planners: ['mesh_planner']
mesh_planner:
type: 'cvp_mesh_planner/CVPMeshPlanner'
cost_limit: 0.8
cost_limit: 0.95
publish_vector_field: true
planner_patience: 10.0
planner_max_retries: 2
Expand Down Expand Up @@ -61,8 +61,9 @@ move_base_flex:
inflation:
type: 'mesh_layers/InflationLayer'
factor: 1.0
inflation_radius: 0.5
inscribed_radius: 0.7
lethal_value: 1.0
inscribed_value: 0.6
inflation_radius: 1.0 # outer ring
inscribed_radius: 0.5 # inner ring
lethal_value: 1.0 # is also inscribed value
inscribed_value: 1.0
repulsive_field: false
cost_scaling_factor: 2.0
4 changes: 2 additions & 2 deletions mesh_navigation_tutorials/rviz/default.rviz
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Expand Up @@ -132,13 +132,13 @@ Visualization Manager:
Value: Vertex Costs
Vertex Color Service Name: get_vertex_colors
Vertex Colors Topic:
Depth: 1
Depth: 10
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_flex/vertex_colors
Vertex Costs Topic:
Depth: 1
Depth: 10
Durability Policy: System Default
History Policy: Keep All
Reliability Policy: System Default
Expand Down