inflation-layer
CommunityTune Nav2 inflation for safer navigation.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
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.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: inflation-layer Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#inflation-layer Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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