local_costmap:  
  library_path: libplugins
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 6.0
  publish_frequency: 6.0
  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