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inflation-layer

Configure Nav2 inflation layer gradients with inflation_radius and cost_scaling_factor.

18|2|Updated Apr 20, 2026
Search Tags:#navigation#inflation#tuning#robotics#path-planning#nav2#costmap
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill inflation-layer
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: inflation-layer
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/inflation-layer
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill inflation-layer

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

InflationLayer modulates the cost gradient around lethal obstacles in the Nav2 costmap, improving planner behavior by biasing paths away from hazards while avoiding overly restrictive areas.

Core Features & Use Cases

  • Configurable gradient: adjust inflation_radius and cost_scaling_factor to shape obstacle proximity tolerance.
  • Obstacle gradient understanding: explains inscribed and circumscribed radii and their impact on cost values.
  • Practical guidelines: provides tuning ranges for indoor/outdoor navigation and different robot footprints.

Quick Start

Tune the inflation_radius and cost_scaling_factor in your Nav2 costmap to shape the obstacle gradient and improve planner safety.

Frequently Asked Questions about inflation-layer

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
What is the Nav2 inflation layer and how does it affect costmap path planning?▼

The Nav2 inflation layer modulates a cost gradient around lethal obstacles in the costmap, shaping path planning by biasing routes away from hazards while preventing overly restrictive navigation areas.

How do I tune the inflation_radius and cost_scaling_factor in Nav2 for different robot footprints?▼

Tune the inflation_radius and cost_scaling_factor parameters to shape the obstacle proximity gradient, balancing wall proximity with corridor clearance for indoor and outdoor navigation scenarios across different robot footprints.

How does the inscribed radius impact cost values in the Nav2 inflation layer?▼

The inscribed radius defines the cost behavior within the inflation layer, establishing a baseline where the robot's footprint touches obstacles and shaping the exponential decay formula that governs gradient costs.

Why does the inflation layer need to be last in the Nav2 costmap plugin order?▼

The inflation layer must remain last in the Nav2 costmap plugin order to preserve the obstacle gradient, ensuring that subsequent modifications do not overwrite the lethal cost values and exponential decay behavior.

What are the best inflation_radius tuning ranges for indoor versus outdoor Nav2 navigation?▼

Tuning ranges for the inflation_radius vary between indoor and outdoor navigation, adjusting the gradient to balance proximity to walls with corridor clearance based on the specific environmental constraints.

Does the Nav2 inflation layer support both indoor and outdoor navigation scenarios?▼

Yes, the Nav2 inflation layer supports both indoor and outdoor navigation by allowing you to vary the inflation_radius and cost_scaling_factor to suit different spatial constraints and robot footprints.

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