diff --git a/config/voxel_layer_params.yaml b/config/voxel_layer_params.yaml
index f919557..c7c2b3c 100644
--- a/config/voxel_layer_params.yaml
+++ b/config/voxel_layer_params.yaml
@@ -8,8 +8,3 @@ voxel_layer:
   unknown_threshold: 15.0
   mark_threshold: 0
   combination_method: 1
-  frustum_clearing_enabled: true
-  frustum_clearing_pixel_step: 8
-  frustum_min_range: 0.20
-  frustum_max_range: 3.0
-  frustum_depth_camera_topic: /camera/depth/image_raw
\ No newline at end of file
diff --git a/src/costmap_2d_robot.cpp b/src/costmap_2d_robot.cpp
index 0d1dc15..f0188ca 100644
--- a/src/costmap_2d_robot.cpp
+++ b/src/costmap_2d_robot.cpp
@@ -348,20 +348,30 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
     move_parameter(plugin_nh, costmap_plugin_nh, "lethal_cost_threshold", lethal_cost_threshold);
     move_parameter(plugin_nh, costmap_plugin_nh, "track_unknown_space", track_unknown_space);
   }
-  else if(plugin_type == "VoxelLayer")
+  else if(plugin_type == "VoxelLayer" || plugin_type == "costmap_2d::VoxelLayer")
   {
     double origin_z;
     double z_resolution;
+    double frustum_min_range;
+    double frustum_max_range;
     int z_voxels;
     int mark_threshold;
     int unknown_threshold;
+    int frustum_clearing_pixel_step;
     bool publish_voxel_map;
+    bool frustum_clearing_enabled;
+    std::string frustum_depth_camera_topic;
     move_parameter(plugin_nh, costmap_plugin_nh, "origin_z", origin_z);
     move_parameter(plugin_nh, costmap_plugin_nh, "z_resolution", z_resolution);
     move_parameter(plugin_nh, costmap_plugin_nh, "z_voxels", z_voxels);
     move_parameter(plugin_nh, costmap_plugin_nh, "mark_threshold", mark_threshold);
     move_parameter(plugin_nh, costmap_plugin_nh, "unknown_threshold", unknown_threshold);
     move_parameter(plugin_nh, costmap_plugin_nh, "publish_voxel_map", publish_voxel_map);
+    move_parameter(plugin_nh, costmap_plugin_nh, "frustum_clearing_enabled", frustum_clearing_enabled);
+    move_parameter(plugin_nh, costmap_plugin_nh, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
+    move_parameter(plugin_nh, costmap_plugin_nh, "frustum_min_range", frustum_min_range);
+    move_parameter(plugin_nh, costmap_plugin_nh, "frustum_max_range", frustum_max_range);
+    move_parameter(plugin_nh, costmap_plugin_nh, "frustum_depth_camera_topic", frustum_depth_camera_topic);
     if(plugin_nh.hasParam("observation_sources"))
     {
       std::string topics_string;