config/global_costmap_params.yaml

   1 global_costmap:
   2   global_frame: /map
   3   robot_base_frame: base_footprint
   4   update_frequency: 5.0
   5   static_map: true
   6   plugins:
   7   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   8   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
   9
  10 inflation_layer:
  11   # low slope decay curve
  12   inflation_radius: 1.75
  13   cost_scaling_factor: 2.58