local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 2.0 height: 2.0 resolution: 0.05 plugins: - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'} - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} - {name: inflation_layer, type: 'costmap_2d::InflationLayer'} sonar_layer: topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"] no_readings_timeout: 1.0