update load param using node handle

config/costmap_params.yaml

@@ -18,14 +18,12 @@ costmap_2d:
       type: create_voxel_layer
 
   path_plugins: ./src/costmap_2d/libplugins.so
-  foot_print:
+  footprint:
     - [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: 1.0
   width: 0.0

config/inflation_layer_params.yaml

@@ -0,0 +1,5 @@
+inflation_layer:
+  enabled: true
+  inflate_unknown: false
+  cost_scaling_factor: 15.0
+  inflation_radius: 0.55

config/layer_params.yaml

@@ -1,46 +0,0 @@
-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
-

config/obstacle_layer_params.yaml

@@ -0,0 +1,18 @@
+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
+

config/static_layer_params.yaml

@@ -0,0 +1,10 @@
+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"

config/voxel_layer_params.yaml

@@ -0,0 +1,11 @@
+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
+