3 robot_base_frame: base_footprint
7 - {name: static_layer, type: 'costmap_2d::StaticLayer'}
8 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
9 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
12 # low slope decay curve
13 inflation_radius: 1.75
14 cost_scaling_factor: 2.58
17 combination_method: 0 # overwrite
18 track_unknown_space: true