Navigating narrow passages (~1.1-1.2m) with husarion-ugv-autonomy: inflation_radius floor vs tight corridors

1

We’re navigating narrow passages with our Panther, and looking for guidance on the right approach.

Our robot’s footprint requires inflation_radius to be at least ~0.45 (matching the inscribed radius Nav2 reported), otherwise bringup fails with the “inflation radius smaller than inscribed radius” error. That’s fine for most of our space, but we have a few passages only about 1.1-1.2m wide, and we’d like the robot to reliably drive straight through them with something like 50-60mm clearance on each side, similar to how industrial AMRs handle fixed narrow corridors.

A couple of things we’re trying to understand before we build anything:

  1. Is inflation_radius truly bounded below by the inscribed radius for bringup to succeed, or is there a supported way around that specifically for tight passages?

  2. Is a Costmap Filter (Keepout Filter / mask) the recommended approach for defining a narrower “allowed corridor” through a specific passage while keeping normal inflation everywhere else, or is there a more standard pattern in the husarion-ugv-autonomy stack for this?

Any pointers to docs or example configs for narrow-corridor navigation with this stack would be much appreciated.

Thanks!