local_costmap:
   global_frame: odom
   robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: true
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.05
   transform_tolerance: 0.5
#    plugins:
#     - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
#     - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
