config/local_costmap_params.yaml

   1 local_costmap:
   2   global_frame: odom
   3   robot_base_frame: base_footprint
   4   update_frequency: 5.0
   5   publish_frequency: 2.0
   6   rolling_window: true
   7   width: 3.0
   8   height: 3.0
   9   resolution: 0.05
  10   plugins:
  11   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  12   - {name: range_layer,   type: "range_sensor_layer::RangeSensorLayer"}
  13   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}