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Jun 19th, 2020
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  1. local_costmap:
  2. global_frame: odom
  3. robot_base_frame: base_footprint
  4. update_frequency: 5.0
  5. publish_frequency: 2.0
  6. static_map: false
  7. rolling_window: true
  8. width: 4.0
  9. height: 4.0
  10. resolution: 0.05
  11. transform_tolerance: 0.5
  12. plugins:
  13. - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
  14. - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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