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costmap common params

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Nov 12th, 2019
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  1. obstacle_range: 0.7
  2. raytrace_range: 3.5
  3.  
  4. footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
  5. robot_radius: 0.17
  6.  
  7. inflation_radius: 0.3
  8. cost_scaling_factor: 3.0
  9.  
  10. map_type: costmap
  11. observation_sources: scan
  12. scan: {
  13.   sensor_frame: base_scan,
  14.   data_type: LaserScan,
  15.   topic: scan,
  16.   marking: true,
  17.   clearing: true
  18. }
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