config/costmap_common_params.yaml

   1 obstacle_range: 2.5
   2 raytrace_range: 3.0
   3 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
   4 robot_radius: 0.15
   5 inflation_radius: 0.55
   6
   7 observation_sources: laser_scan_sensor
   8
   9 laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}