set proper global_costmap cost_factor

jsk-ros-pkg · Dec 5, 2022 · ae189f0 · ae189f0
1 parent 978de9f
commit ae189f0
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...etch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/...etch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -22,6 +22,9 @@ move_base:
   # base_local_planner: base_local_planner/TrajectoryPlannerROS
   GlobalPlanner:
     allow_unknown: true
+    neural_cost: 50
+    lethal_cost: 253
+    cost_factor: 0.8
     default_tolerance: 0.0
     orientation_mode: 1
     visualize_potential: false