update file costmap_2d_robot and file config params

plugins/directional_layer.cpp

@@ -15,10 +15,8 @@ using costmap_2d::NO_INFORMATION;
 namespace costmap_2d
 {
   DirectionalLayer::DirectionalLayer()
-  {
-    // ros::NodeHandle nh("~/" + name_);
-    // lane_mask_pub_ = nh.advertise<nav_msgs::OccupancyGrid>("/direction_zones/lanes", 1);
-  }
+  {}
+  
   DirectionalLayer::~DirectionalLayer() {}
 
   bool DirectionalLayer::laneFilter(const std::vector<geometry_msgs::PoseStamped> plan)