footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, -0.20]]  

transform_tolerance: 0.5 
map_type: costmap 

#Obstacle marking parameters
obstacle_layer:
 enabled: true
 obstacle_range: 2.5
 raytrace_range: 3.5
 inflation_radius: 0.5
 track_unknown_space: false
 combination_method: 1
 subscribe_to_updates: true
 observation_sources: laser_scan_sensor
 laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

#Cost function parameters
inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0  
  inflation_radius:     0.5  

static_layer:
  enabled:              true
  map_topic:            "map"
