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: 5.0 height: 5.0 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