config/global_costmap_params.yaml

   1 global_costmap:
   2   global_frame: map
   3   robot_base_frame: base_footprint
   4   static_map: true
   5   publish_frequency: 1.0
   6   plugins:
   7   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   8   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   9   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
  10
  11   inflation_layer:
  12     # low slope decay curve
  13     inflation_radius: 1.75
  14     cost_scaling_factor: 2.58
  15
  16   obstacle_layer:
  17     combination_method: 0 # overwrite
  18     track_unknown_space: true