global_costmap: global_frame: /map robot_base_frame: base_footprint static_map: true 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: # low slope decay curve inflation_radius: 1.75 cost_scaling_factor: 2.58