[amcl_demo] robot_radius infestation

[stonier]

Seems the costmaps and inflation layers both have robot_radius dynamically reconfigurable parameters. The costmap parameter is 0.18 and inflation layer parameter is 0.46.

• What is the meaning for each parameter?
• 0.46 is a wierd value for this.

[mikeferguson]

0.46 is, I believe, the default from the PR2. Most of the navigation stack defaults are from the PR2.

[stonier]

Thanks fergs.

Looks like it's set by default by the inflation plugin.

Odd thing though, it doesn't seem to have any effect. Local obstacles in rviz have a collision zone of 0.18 still, not 0.46 and dynamically reconfiguring it also doesn't seem to have any effect.