loop_closure_planner:
  allow_unknown: false
explore_planner:
  allow_unknown: false
#Independent settings for the planner's costmap
global_costmap: 
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 0.0
  static_map: true
  rolling_window: false
#  global_frame: /map
#  robot_base_frame: base_link
#  update_frequency: 1.0
#  publish_frequency: 0.0
#  raytrace_range: 5.0
#  obstacle_range: 5.0
#  static_map: false
#  rolling_window: false
#  width: 60.0
#  height: 60.0
#  resolution: 0.2
#  origin_x: -30.0
#  origin_y: -30.0
#  track_unknown_space: true