publish_frequency: 2.0
static_map: false
rolling_window: true
- width: 6.0
- height: 6.0
- resolution: 0.05
+ width: 10.0
+ height: 10.0
+ resolution: 0.01
+ plugins:
+ - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+ - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}