base:
    global:
        plugins:
        - {name: static_map,       type: "costmap_2d::StaticLayer"}
        - {name: obstacles,        type: "costmap_2d::ObstacleLayer"}
        - {name: inflation,        type: "costmap_2d::InflationLayer"}
        obstacles:
            track_unknown_space: true
    local:
        plugins: []
    robot_radius: .5
clear:
    clearing_distance: 7.0