config/global_costmap_params_odom.yaml

   1 global_costmap:
   2   global_frame: odom
   3   robot_base_frame: base_footprint
   4   update_frequency: 5.0
   5   static_map: true
   6   rolling_window: true
   7   width: 100.0
   8   height: 100.0
   9   resolution: 1.0
  10   plugins:
  11   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  12   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}