yup the foam mats like the kids version of the jigsaw playmats makes walking barefoot in there possible and much warmer, in fact that is all we carry with us now and don't bother with any other types of groundsheet
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depends on the size of the gravel really , if you're talking like caravan club size gravel (about 1/2 inch gravel) , then we use a breathable groundsheet, it sort of takes the sharpness out of the gravel, if its round (pea gravel) then an ordinary tarpaulin type groundsheet would be ok as it wouldn't get cut by the gravel.
stu
Interlocking foam mats underneath our breathable awning ground sheet which is used alone when awning is on a grass pitch. Makes walking in the awning most comfy when on gravel and our dog certainly approves.
The mats are on offer at Aldi from Thursday, they seem very similar to the mats we use.