costmap:
  ros__parameters:
    use_sim_time: false
    global_frame: map
    robot_base_frame: base_link
    rolling_window: false
    resolution: 0.1
    robot_radius: 0.15
    footprint: '[]'
    footprint_padding: 0.0
    track_unknown_space: true
    trinary_costmap: true
    unknown_cost_value: 255
    lethal_cost_threshold: 100
    update_frequency: 5.0
    publish_frequency: 2.0
    initial_transform_timeout: 5.0
    always_send_full_costmap: true
    plugins: [static_layer, inflation_layer]
    static_layer:
      plugin: nav2_costmap_2d::StaticLayer
      enabled: true
      map_topic: /map
      map_subscribe_transient_local: true
      subscribe_to_updates: false
      footprint_clearing_enabled: false
    inflation_layer:
      plugin: nav2_costmap_2d::InflationLayer
      enabled: true
      inflation_radius: 0.6
      cost_scaling_factor: 3.0
      inflate_unknown: false
      inflate_around_unknown: false