search:
    global:
        track_unknown_space: false
        footprint: [[-0.6, -0.6], [1.6, -0.6], [1.6, 0.6], [-0.6, 0.6]] # in Y it is a bit larger than one cell
        plugins:
        - {name: static,    type: "costmap_2d::StaticLayer"}
        - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
