# only differences to config/global_costmap_params.yaml global_costmap: global_frame: odom rolling_window: true width: 100.0 height: 100.0 resolution: 0.05 plugins: - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'} - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}