local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.01
  plugins:
  - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}