ROS-Answers/Navigation/Costmap2

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.25, 0.19], [0.25, -0.30], [-0.25, -0.30], [-0.25, 0.19]]
#robot_radius: ir_of_robot
inflation_radius: 0.4

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}