config/costmap_common_params.yaml

   1 footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
   2
   3 obstacle_layer:
   4   observation_sources: laser_scan_sensor
   5   obstacle_range: 2.5
   6   raytrace_range: 3.0
   7   laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
   8
   9 inflation_layer:
  10   inflation_radius: 0.22
  11
  12 range_layer:
  13   topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
  14   no_readings_timeout: 1.0
  15   clear_on_max_reading: true
  16   mark_threshold: 0.7
  17   inflate_cone: 0.0