track_unknown_space: true
global_frame: map
rolling_window: false

plugins: 
- {name: external,            type: "costmap_2d::StaticLayer"}
- {name: explore_boundary,    type: "frontier_exploration::BoundedExploreLayer"}
#Can disable sensor layer if gmapping is fast enough to update scans
- {name: obstacles_laser,     type: "costmap_2d::ObstacleLayer"}
- {name: inflation,           type: "costmap_2d::InflationLayer"}

explore_boundary:
  resize_to_boundary: false
  frontier_travel_point: middle
  #set to false for gmapping, true if re-exploring a known area
  explore_clear_space: false