inflation_layer:
  enabled: true
  inflate_unknown: false
  cost_scaling_factor: 15.0
  inflation_radius: 0.55

costmap_2d:
  plugins:
    - name: static_layer
      type: create_static_layer

    - name: inflation_layer
      type: create_inflation_layer

    - name: obstacle_layer
      type: create_obstacle_layer

    - name: preferred_layer
      type: create_preferred_layer

  path: ./src/costmap_2d/libplugins.so

  # robot_time_source: true
  # update_frequency: 5.0
  # publish_frequency: 2.0
  # transform_tolerance: 0.5