Asymmetric Inflation Layer Parameters

This layer implements an asymmetric variant of the inflation layer, by scaling inflation costs based on the planned path to incentivize left- or right-hand navigation.

<asymmetric inflation layer> is the corresponding plugin name selected for this type.

`<asymmetric inflation layer>.enabled`

Type: bool Default: true: Whether it is enabled.

`<asymmetric inflation layer>.inflation_radius`

Type: double Default: 2.0: Radius to inflate costmap around lethal obstacles.

`<asymmetric inflation layer>.cost_scaling_factor_left`

Type: double Default: 4.0: Decay factor across inflation radius for obstacles on the left side of the path.

`<asymmetric inflation layer>.cost_scaling_factor_right`

Type: double Default: 4.0: Decay factor across inflation radius for obstacles on the right side of the path.

`<asymmetric inflation layer>.inflate_around_unknown`

Type: bool Default: false: Whether to treat unknown cells as lethal for inflation purposes.

`<asymmetric inflation layer>.plan_topic`

Type: string Default: "plan": Topic on which to receive the global path (nav_msgs/msg/Path).

`<asymmetric inflation layer>.goal_distance_threshold`

Type: double Default: 1.5

Distance to the goal (m) below which asymmetric inflation is disabled.

This prevents oscillations when the robot is approaching the target pose.

Example

global_costmap:
  ros__parameters:
    update_frequency: 10.0
    publish_frequency: 10.0
    global_frame: map
    robot_base_frame: base_link
    footprint: "[ [0.525, 0.325], [0.525, -0.325], [-0.525, -0.325], [-0.525, 0.325] ]"
    width: 10
    height: 10
    origin_x: -5.0
    origin_y: -5.0
    resolution: 0.05
    track_unknown_space: false
    plugins: ["static_layer", "asymmetric_inflation_layer"]
    static_layer:
      plugin: "nav2_costmap_2d::StaticLayer"
      map_subscribe_transient_local: True
    asymmetric_inflation_layer:
      plugin: "nav2_costmap_2d::AsymmetricInflationLayer"
      enabled: True
      inflation_radius: 3.0
      cost_scaling_factor_left: 1.0
      cost_scaling_factor_right: 4.0
      inflate_around_unknown: False
      plan_topic: "plan"
      goal_distance_threshold: 1.5