global_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 1
  publish_frequency: 1
  always_send_full_costmap: true
  plugins: [
    {name: static_layer, type: "rtabmap_ros::StaticLayer"},
    {name: inflation_layer, type: "costmap_2d::InflationLayer"}
  ]