What problem does it solve? Configuring the Nav2 InflationLayer is counterintuitive: the relationship between cost_scaling_factor and robot clearance is inverted, and misordered plugin lists silently overwrite the cost gradient. This Skill provides the cost formula, decay curves, and tuning presets needed to configure inflation correctly the first time. ## Core Features & Use Cases - Cost Formula Reference: Explains the exponential decay formula cost(d) = 253 * exp(-cost_scaling_factor * (d - inscribed_radius)) with concrete cost tables at multiple scaling factors. - Tuning Presets: Provides ready-to-use inflation_radius and cost_scaling_factor values for narrow corridors, tight spaces, and general-purpose indoor navigation. - Misconfiguration Diagnosis: Documents common mistakes such as placing InflationLayer before other plugins, oversized inflation radii, and excessively steep decay factors. - Use Case: A robot oscillates near walls in a narrow corridor. Use this Skill to recognize that cost_scaling_factor is too high, lower it to 2.5, and restore smooth corridor-centering behavior. ## Quick Start Ask the AI to tune the Nav2 inflation layer parameters for a differential drive robot navigating narrow indoor corridors.
