global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: false
      rolling_window: false
      robot_radius: 0.35
      plugins:
        - name: static_layer
          type: nav2_costmap_2d::StaticLayer
          map_subscribe_transient_local: true
          enabled: true
        - name: obstacle_layer
          type: nav2_costmap_2d::ObstacleLayer
          enabled: true
          observation_sources: scan
          scan:
            topic: /scan
            max_obstacle_height: 2.5
            min_obstacle_height: 0.0
            clearing: true
            marking: true
            data_type: LaserScan
        - name: inflation_layer
          type: nav2_costmap_2d::InflationLayer
          enabled: true
          inflation_radius: 0.55
          cost_scaling_factor: 10.0
          inflate_unknown: false
          inflate_around_unknown: true
      resolution: 0.05
      track_unknown_space: true
      unknown_cost_value: -1
