diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 480fd96..ef6f415 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,8 +1,9 @@
 obstacle_range: 2.5
 raytrace_range: 3.0
-robot_radius: 0.25
+#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}
\ No newline at end of file
+scan: {data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true, expected_update_rate: 0}