global_costmap:
  library_path: libplugins
  robot_base_frame: base_link
  global_frame: map
  update_frequency: 1.0
  publish_frequency: 1.0
  raytrace_range: 2.0
  resolution: 0.05
  z_resolution: 0.2
  rolling_window: false
  z_voxels: 10
  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:     0.6  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.

