Next, we ware going to configure the global costmap configuration file. Here, we will create a new file in chapter7_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 that is used for the global costmap. We can also configure the update frequency for the costmap, which is 1 Hz here.

Similarly, the static_map attribute is used for the global costmap to define whether a map or the map server is used to initialize the costmap. If we are not using a static map, this parameter must be set to false.