local costmap

local_costmap:
  global_frame: map
#  robot_base_frame: base_footprint
#  added as a parameter in .launch file

  update_frequency: 30.0
  publish_frequency: 30.0
  transform_tolerance: 0.5

  static_map: false
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05