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a guest Feb 22nd, 2019 76 Never
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  1. local_costmap:
  2.   global_frame: /map
  3.   robot_base_frame: /base_link
  4.   update_frequency: 8.0
  5.   publish_frequency: 4.0
  6.   rolling_window: true
  7.   static_map: false
  8.   width: 6.0
  9.   height: 6.0
  10.   resolution: 0.05
  11.   plugins:
  12.     - {name: obstacle_layer,         type: "costmap_2d::ObstacleLayer",             output: "screen"}
  13.     #- {name: simple_layer,           type: "simple_layer_namespace::SimpleLayer",   output: "screen"}  
  14.     - {name: tunnel_layer,           type: "tunnel_layer_namespace::TunnelLayer",   output: "screen"}
  15.     - {name: inflation_layer,        type: "costmap_2d::InflationLayer",            output: "screen"}
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