config/global_costmap_params.yaml

   1 global_costmap:
   2   global_frame: map
   3   robot_base_frame: base_footprint
   4   publish_frequency: 1.0
   5   plugins:
   6   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   7   #- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   8   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
   9
  10   inflation_layer:
  11     inflation_radius: 0.4 # plan distance around corners
  12
  13   obstacle_layer:
  14     combination_method: 0 # overwrite
  15     track_unknown_space: true