Motivated by this question (http://answers.ros.org/question/233809), I dug into the parameters of [costmap_2d](http://wiki.ros.org/costmap_2d) and [move_base](http://wiki.ros.org/move_base). I had two related questions regarding the radii:
1) Can a costmap's `inscribed_radius` and `circumscribed_radius` parameters be set from the parameter server? Digging through the source code, it looks like they are calculated solely based on the robot's footprint / radius (see [layered_costmap.cpp#L148](https://github.com/ros-planning/navigation/blob/indigo-devel/costmap_2d/src/layered_costmap.cpp#L148)), not any user-provided values. Up till now, I thought I could parametrize the inflation layer like below, but I don't think so any more.
inflation_layer:
enabled: true
inscribed_radius: 0.15 # Will this have any effect?
circumscribed_radius: 0.20 # Will this have any effect?
inflation_radius: 0.40
2) Does move_base actually use `local_costmap/inscribed_radius` for anything? (see [move_base.cpp#L101](https://github.com/ros-planning/navigation/blob/indigo-devel/move_base/src/move_base.cpp#L101)) Also, the following comment (see L100) is not consistent with my new understanding of costmap parametrization:
//we'll assume the radius of the robot to be consistent with what's specified for the costmaps
private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325);
private_nh.param("local_costmap/circumscribed_radius", circumscribed_radius_, 0.46);
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