Interactive playground

Costmap Inflation Explorer

Tune robot footprint, map resolution, inflation radius, and scaling to understand blocked paths.

Robot footprint0.28Obstacle position X1.40Obstacle position Y0.48Map resolution0.05Inflation radius0.55Cost scaling factor2.40Sensor range3Unknown space

Fault togglesFootprint too largeSensor origin outside mapStale obstacleResolution mismatch

Raw obstacle mapsensor observed

Inflated costmap17 cells

Candidate pathblocked