update file config and loadParam

config/config.yaml

@@ -2,4 +2,25 @@ inflation_layer:
   enabled: true
   inflate_unknown: false
   cost_scaling_factor: 15.0
-  inflation_radius: 0.55
+  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