costmap common params

obstacle_range: 0.7
raytrace_range: 3.5

footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
robot_radius: 0.17

inflation_radius: 0.3
cost_scaling_factor: 3.0

map_type: costmap
observation_sources: scan
scan: {
  sensor_frame: base_scan,
  data_type: LaserScan,
  topic: scan,
  marking: true,
  clearing: true
}