planner_server:
  ros__parameters:
    use_sim_time: false
    expected_planner_frequency: 1.0
    costmap_update_timeout: 2.0
    planner_plugins: [GridBased]
    GridBased:
      plugin: nav2_navfn_planner::NavfnPlanner
      tolerance: 0.0
      use_astar: true
      allow_unknown: false
      use_final_approach_orientation: false
global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: false
      global_frame: map
      robot_base_frame: base_link
      rolling_window: false
      resolution: 0.1
      robot_radius: 0.12
      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: 0.35
        cost_scaling_factor: 3.0
        inflate_unknown: false
        inflate_around_unknown: false