costmap_common_params.yaml

obstacle_range: 3
raytrace_range: 4
footprint: [[0.095,0.18], [-0.095, 0.18],[-0.095,-0.18],[0.095, 0.18]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

transform_tolerance: 2.0
map_type: costmap
observation_sources: hokuyo_node

laser_scan_sensor: {sensor_frame: laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}