plugins:
    - {name: static_map,       type: "costmap_2d::StaticLayer"}
    - {name: obstacles1,        type: "costmap_2d::ObstacleLayer"}
    - {name: obstacles2,        type: "costmap_2d::VoxelLayer"}
    - {name: inflation,        type: "costmap_2d::InflationLayer"}

global_frame: /world
robot_base_frame: base_link_footprint
update_frequency: 4.0
publish_frequency: 4.0

track_unknown_space: false
transform_tolerance: 0.3
footprint: [[-0.54, -0.54], [-0.54, 0.54], [0.54, 0.54], [0.54, -0.54]]
footprint_padding: 0.01
inflation_radius: 0.80
cost_scaling_factor: 10.0



static_map:
  map_topic: map_costmap
  lethal_cost_threshold: 100
obstacles1:
  observation_sources: footprint_scan
  footprint_scan:
    {topic: ds/scan_footprint,
    data_type: LaserScan,
    expected_update_rate: 0.2,
    observation_persistence: 0.0,
    marking: true,
    clearing: true,
    max_obstacle_height: 10.0,
    min_obstacle_height: 0.0,
    obstacle_range: 2.0,
    raytrace_range: 4.0}
obstacles2:
  observation_sources: cam_scan
  cam_scan:
    {
    topic: astra/depth/points/filtered,
    data_type: PointCloud2,
    map_type: voxel,
    origin_z: 0.0,
    z_resolution: 0.1,
    z_voxels: 15,
    publish_voxel_map: true,
    inf_is_valid: true,
    expected_update_rate: 0.02,
    observation_persistence: 0.0,
    marking: true,
    clearing: true,
    obstacle_range: 2.5,
    raytrace_range: 7.0,
    max_obstacle_height: 1.7,
    min_obstacle_height: 0.95}
    # min_obstacle_height: -0.35