global_costmap: global_frame: map robot_base_frame: base_footprint publish_frequency: 1.0 plugins: - {name: static_layer, type: 'costmap_2d::StaticLayer'} #- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'} - {name: inflation_layer, type: 'costmap_2d::InflationLayer'} inflation_layer: inflation_radius: 0.4 # plan distance around corners obstacle_layer: combination_method: 0 # overwrite track_unknown_space: true