local_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 8.0
  publish_frequency: 4.0
  rolling_window: true
  static_map: false
  width: 6.0
  height: 6.0
  resolution: 0.05
  plugins:
    - {name: obstacle_layer,         type: "costmap_2d::ObstacleLayer",             output: "screen"}
    #- {name: simple_layer,           type: "simple_layer_namespace::SimpleLayer",   output: "screen"}
    - {name: tunnel_layer,           type: "tunnel_layer_namespace::TunnelLayer",   output: "screen"}
    - {name: inflation_layer,        type: "costmap_2d::InflationLayer",            output: "screen"}