costmap_common_params.yaml

obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.25, -0.305], [-0.25, 0.305], [0.25, 0.305], [0.25, -0.305]]

inflation_radius: 0.1
cost_scaling_factor: 5.0

footprint_clearing_enabled: true

transform_tolerance: 0.5

planner_frequency: 1.0
planner_paitence: 5.0

origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false

map_type: costmap
observation_sources: scan
scan: {sensor_frame: ebot_base, data_type: LaserScan, topic: ebot/laser/scan, marking: true, clearing: true}