Using static map in Costmaps

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Hi everybody,

I have 2 simple questions for ROS navigation experts (I am very new on navigation:)

1) I have a priori map and I want to use it thru navigation. Sould I use "static map: true and rolling_window: false" in both local and global costmaps parameter yaml files?

2) Is it true that if I use static map:true then I should use rolling_window: false both in global and locall costmaps ??

Thank you..