config/costmap_common_params.yaml

   1 obstacle_range: 2.5
   2 raytrace_range: 3.0
   3 footprint: [ [0.22, 0.11], [-0.08, 0.11], [-0.08, -0.11], [0.22, -0.11] ]
   4 #robot_radius: 0.15
   5 inflation_radius: 0.55
   6 transform_tolerance: 0.5
   7
   8 obstacle_layer:
   9   observation_sources: laser_scan_sensor
  10
  11 laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}