global_costmap:
  global_frame: map 

  robot_base_frame: base_link 
  update_frequency: 5.0
  publish_frequency: 5.0
  static_map: false
  resolution: 0.025
 
  transform_tolerance: 0.5 
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,         type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}