local_costmap:  
    global_frame: odom
    update_frequency: 5.0
    publish_frequency: 5.0
    rolling_window: true
    raytrace_range: 2.0
    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: 0.3  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
    width: 8.0
    height: 8.0
    origin_x: 0.0
    origin_y: 0.0