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1 # only differences to config/global_costmap_params.yaml
2 global_costmap:
3   global_frame: gps
4   rolling_window: true
5   width: 200.0
6   height: 200.0
7   resolution: 0.10
8   plugins:
9   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
10   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}