config/global_costmap_params.yaml

   1 global_costmap:
   2   global_frame: odom
   3   robot_base_frame: base_link
   4   update_frequency: 5.0
   5   static_map: true
   6   rolling_window: true
   7   width: 10.0
   8   height: 10.0
   9   plugins:
  10   - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
  11   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}