costmap_common_params.yaml

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obstacle_range: 1.0
raytrace_range: 3.0
footprint: [[-0.05, -0.05], [-0.05, 0.05], [0.05, 0.05], [0.05, -0.05]]
inflation_radius: 0.02

update_frequency: 2
publish_frequency: 10.
publish_voxel_map: true
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
transform_tolerance: 0.5

observation_sources: scan

scan: {sensor_frame: base_link, data_type: LaserScan, topic: LaserScan, marking: true, clearing: true}