ROS-Answers/Navigation/GlobalCostMap2

NavfnROS:
 allow_unknown: false
#Independent settings for the planner's costmap
global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: true
  rolling_window: false
  mark_threshold: 10
  inflation_radius: 0.5