moro_params.yaml

base_local_planner: "dwa_local_planner/DWAPlannerROS"
base_global_planner: "carrot_planner/CarrotPlanner"

DWAPlannerROS:
  max_rot_vel: 0.5
  yaw_goal_tolerance: 0.05
  xy_goal_tolerance: 0.10

global_costmap:    
   static_map: false
   rolling_window: true
   plugins:
     - {name: obstacle_layer,  type: "costmap_2d::VoxelLayer"}
     - {name: inflation_layer, type: "costmap_2d::InflationLayer"}