update file costmap_2d_robot and file config params

config/config.yaml

@@ -1,26 +0,0 @@
-inflation_layer:
-  enabled: true
-  inflate_unknown: false
-  cost_scaling_factor: 15.0
-  inflation_radius: 0.55
-
-costmap_2d:
-  plugins:
-    - name: static_layer
-      type: create_static_layer
-
-    - name: inflation_layer
-      type: create_inflation_layer
-
-    - name: obstacle_layer
-      type: create_obstacle_layer
-
-    - name: preferred_layer
-      type: create_preferred_layer
-
-  path: ./src/costmap_2d/libplugins.so
-
-  # robot_time_source: true
-  # update_frequency: 5.0
-  # publish_frequency: 2.0
-  # transform_tolerance: 0.5

config/costmap_params.yaml

@@ -0,0 +1,38 @@
+costmap_2d:
+  global_frame: map
+  robot_base_frame: base_link
+  rolling_window: false
+  track_unknown_space: false
+
+  plugins:
+    - name: static_layer
+      type: create_static_layer
+
+    - name: inflation_layer
+      type: create_inflation_layer
+
+    - name: obstacle_layer
+      type: create_obstacle_layer
+
+    - name: voxel_layer
+      type: create_voxel_layer
+
+  path_plugins: ./src/costmap_2d/libplugins.so
+  foot_print:
+    - [0.3, 0.3]
+    - [0.3, -0.3]
+    - [-0.3, -0.3]
+    - [-0.3, 0.3]
+
+  layer_config_file_name: layer_params 
+
+  transform_tolerance: 0.0
+  update_frequency: 0.0
+  width: 0.0
+  height: 0.0
+  resolution: 0.0
+  origin_x: 0.0
+  origin_y: 0.0
+
+  footprint_padding: 0.0
+  robot_radius: 0.0

config/layer_params.yaml

@@ -0,0 +1,46 @@
+static_layer:
+  enabled: true
+  first_map_only: false
+  subscribe_to_updates: false
+  track_unknown_space: true
+  use_maximum: false
+  lethal_cost_threshold: 100
+  unknown_cost_value: -1
+  trinary_costmap: true
+  base_frame_id: "map"
+
+inflation_layer:
+  enabled: true
+  inflate_unknown: false
+  cost_scaling_factor: 15.0
+  inflation_radius: 0.55
+
+obstacle_layer:
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  topic: "map"
+  sensor_frame: laser_frame
+  observation_persistence: 0.0
+  expected_update_rate: 0.0
+  data_type: PointCloud
+  min_obstacle_height: 0.0
+  max_obstacle_height: 2.0
+  inf_is_valid: false
+  clearing: false
+  marking: true
+  obstacle_range: 2.5
+  raytrace_range: 3.0
+  footprint_clearing_enabled: true
+  combination_method: 1
+
+voxel_layer:
+  enabled: true
+  footprint_clearing_enabled: true
+  max_obstacle_height: 3.0
+  origin_z: 0.0
+  z_resolution: 0.2
+  z_voxels: 16
+  unknown_threshold: 15.0
+  mark_threshold: 0
+  combination_method: 3
+