Change navigation params: inflation radius 0.5->1.0, decreased footprint size,...

Change navigation params: inflation radius 0.5->1.0, decreased footprint size, increased path_distance_bias

params/costmap/common_params.yaml

 # footprint parameters
 #footprint: [[0.35, 0.35], [0.35, -0.35], [-0.35,-0.35 ], [-0.35, 0.35]]
-footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3,-0.3 ], [-0.3, 0.3]]
+#footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3,-0.3 ], [-0.3, 0.3]]
+footprint: [[0.25,0.25],[0.25,-0.25],[-0.25,-0.25],[-0.25,0.25]]
 #robot_radius: 0.35
 footprint_padding: 0.01
 footprint_topic: /ana/footprint
@@ -58,4 +59,4 @@ inflation_layer:
   inflate_unknown: false
   inflation_radius: 2.0
   cost_scaling_factor:  5.0
-  inflation_radius:     0.5
+  inflation_radius:     1.0

params/local_planner/dwa_params.yaml

@@ -32,9 +32,9 @@ DWAPlannerROS:
   controller_frequency: 20.0 # defines the sim_period
 
 # Trajectory scoring parameters
-  path_distance_bias: 50.0
-  goal_distance_bias: 20.0
-  occdist_scale: 0.02
+  path_distance_bias: 200.0
+  goal_distance_bias: 10.0
+  occdist_scale: 0.05
   twirling_scale: 0.0
   stop_time_buffer: 0.2
   forward_point_distance: 0.325