-#Can disable sensor layer if gmapping is fast enough to update scans
-- {name: sensor, type: "costmap_2d::ObstacleLayer"}
-- {name: inflation, type: "costmap_2d::InflationLayer"}
+# Can disable sensor layer if gmapping is fast enough to update scans
+- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+- {name: range_layer, type: "range_sensor_layer::RangeSensorLayer"}
+- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
+
+static_layer:
+ # Can pull data from gmapping, map_server or a non-rolling costmap
+ map_topic: /map
+ # map_topic: move_base/global_costmap/costmap
+ subscribe_to_updates: true