config/global_costmap_params.yaml

   1 global_costmap:
   2   global_frame: /map
   3   robot_base_frame: base_footprint
   4   static_map: true
   5   plugins:
   6   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   7   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
   8
   9   inflation_layer:
  10     # low slope decay curve
  11     inflation_radius: 1.75
  12     cost_scaling_factor: 2.58