test costmap + cam depth

config/costmap_params.yaml

@@ -0,0 +1,31 @@
+robot_costmap_2d:
+  global_frame: odom
+  robot_base_frame: base_link
+  rolling_window: true
+  track_unknown_space: false
+
+  plugins:
+    - name: voxel_layer
+      type: VoxelLayer
+    - name: inflation_layer
+      type: InflationLayer
+
+  library_path: /home/duongtd/T800_ws/devel/lib/libplugins.so
+
+  footprint:
+    - [0.30, 0.30]
+    - [0.30, -0.30]
+    - [-0.30, -0.30]
+    - [-0.30, 0.30]
+
+  transform_tolerance: 0.5
+  performance_metrics_enabled: false
+  performance_metrics_period: 5.0
+  update_frequency: 5.0
+  width: 6.0
+  height: 6.0
+  resolution: 0.05
+  origin_x: 0.0
+  origin_y: 0.0
+  footprint_padding: 0.0
+  robot_radius: 0.0