+#must match incoming static map
+global_frame: map
+robot_base_frame: base_link
+resolution: 0.05
+
+track_unknown_space: true
+rolling_window: false
+
+plugins:
+- {name: static, type: "costmap_2d::StaticLayer"}
+- {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
+#Can disable sensor layer if gmapping is fast enough to update scans
+- {name: sensor, type: "costmap_2d::ObstacleLayer"}
+- {name: inflation, type: "costmap_2d::InflationLayer"}
+
+explore_boundary:
+ resize_to_boundary: false
+ frontier_travel_point: middle
+ #set to false for gmapping, true if re-exploring a known area
+ explore_clear_space: false