local_costmap:
  global_frame: map    
 
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 5.0
  static_map: false 
  rolling_window: true 
  width: 8
  height: 8
  resolution: 0.025
  inflation_radius: 0.5
  transform_tolerance: 0.5 
  
  plugins:
   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}