costmap_common_params

map_type: costmap
transform_tolerance: 0.3
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 1.5 //has to fine tune the parameter

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: laser,
                    data_type: LaserScan,
                    topic: /scan,
                    expected_update_rate: 0.2,
                    observation_persistence: 0.0,
                    marking: true,
                    clearing: false,
                    min_obstacle_height: 0.06,
                    max_obstacle_height: 2.5}