cps_rmp220_support/config/costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
#robot_radius: 0.25
footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]"
inflation_radius: 0.15
max_obstacle_height: 0.6
min_obstacle_height: 0.0
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true, expected_update_rate: 0}