update file costmap_2d_robot and file config params

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