global_costmap:
global_frame: odom
rolling_window: true
- width: 100.0
- height: 100.0
- resolution: 1.0
- resolution: 0.05
+ width: 200.0
+ height: 200.0
+ resolution: 0.10
plugins:
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}