The next file to be configured is the global costmap configuration file. Create a new file in chapter6_tutorials/launch with the name global_costmap_params.yaml, and add the following code:

global_costmap: 
  global_frame: /map 
  robot_base_frame: /base_footprint 
  update_frequency: 1.0 
  static_map: true 

The global_frame and the robot_base_frame attributes define the transformation between the map and the robot. This transformation is for the global costmap.

You can configure the frequency of updates for the costmap. In this case, it is 1 Hz. The static_map attribute is used for the global costmap to see whether a map or the map server is used to initialize the costmap. If you aren't using a static map, set this parameter to false.