Update local planner and inflation radius in launch and costmap configuration

Author: matchRos

mir/mir_launch_sim/launch/mir_600.launch

@@ -11,7 +11,7 @@
     <arg name="move_base_selector" default="move_base_flex" />
 	<arg name="global_planner" default="GlobalPlanner" />
     <arg name="global_planner_config" default="$(find mir_navigation)/config/Planner/GlobalPlanner/$(arg global_planner).yaml" />
-	<arg name="local_planner" default="LocalPlanFollower" />
+	<arg name="local_planner" default="TebLocalPlannerROS" />
     <arg name="local_planner_config" default="$(find mir_navigation)/config/Planner/LocalPlanner/$(arg local_planner).yaml" />
 
     <arg name="localization_type" default="ground_truth" doc="i.e. amcl, ground_truth, odom,..."/>

mir/mir_navigation/config/Costmap/costmap_global_params.yaml

@@ -8,7 +8,7 @@ global_costmap:
   z_voxels: 10
   inflation:
     cost_scaling_factor:  3.0  # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
-    inflation_radius:     0.3  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
+    inflation_radius:     1.0  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
 
   plugins: 
     - name: navigation_map