git commit -m "first commit"

simulators/sim_env/config/costmap/global_costmap_params.yaml

@@ -0,0 +1,15 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: $(arg prefix)base_footprint
+
+  update_frequency: 1.0
+  publish_frequency: 1.0
+  transform_tolerance: 0.5
+
+  static_map: true
+  # plugins:
+  #   - {name: static_map,       type: "costmap_2d::StaticLayer"}
+  # #   - {name: voxel_layer,        type: "costmap_2d::VoxelLayer"}
+  #   - {name: obstacle_layer,        type: "costmap_2d::ObstacleLayer"}
+  #   - {name: voronoi_layer,        type: "costmap_2d::VoronoiLayer"}     
+  #   - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}

simulators/sim_env/config/costmap/local_costmap_params.yaml

@@ -0,0 +1,17 @@
+local_costmap:
+  global_frame: odom
+  robot_base_frame: $(arg prefix)base_footprint
+
+  update_frequency: 10.0
+  publish_frequency: 10.0
+  transform_tolerance: 0.5  
+
+  static_map: false  
+  rolling_window: true
+  width: 3
+  height: 3
+  resolution: 0.05
+  
+  # plugins:
+  #   - {name: obstacle_layer,        type: "costmap_2d::ObstacleLayer"}
+  #   - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}