local_costmap:
  global_frame: odom
  static_map: false
  rolling_window: true
  raytrace_range: 6.0
  resolution: 0.05
  z_resolution: 0.15
  z_voxels: 8
  inflation:
    cost_scaling_factor: 10.0  # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
    inflation_radius:     0.45  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
  width: 4.0
  height: 4.0
  origin_x: 0.0
  origin_y: 0.0

  plugins:
    - {name: obstacles,  type: "costmap_2d::VoxelLayer" }
    - {name: inflation,  type: "costmap_2d::InflationLayer" }