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