global_costmap:
- global_frame: /map
+ global_frame: map
robot_base_frame: base_footprint
- update_frequency: 5.0
static_map: true
+ publish_frequency: 1.0
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
+ - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
inflation_layer: