global_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 5.0 static_map: true rolling_window: true width: 100.0 height: 100.0 resolution: 1.0 plugins: - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'} - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}