common_costmap

obstacle_range: 0.8
raytrace_range: 0.8
footprint: [[-0.075,-0.075],[-0.075,0.075],[0.075,0.075],[0.075,-0.075]]
robot_radius: 0.250
inflation_radius: 0.400

observation_sources: ir_sensors
ir_sensors: {
  sensor_frame: 'base_link',
  data_type: PointCloud,
  topic: '/ir_sensors',
  marking: true,
  clearing: true,
  obstacle_range: 0.8,
  raytrace_range: 0.8,
  expected_update_rate: 15,
  observation_persistence: 3.0
}

#plugins:
#   - {name: static_map, type: "costmap_2d::StaticLayer"}
#   - {name: obstacles,  type: "costmap_2d::VoxelLayer"}
#   - {name: inflater,   type: "costmap_2d::InflationLayer"}