test costmap + cam depth

config/costmap_params.yaml

@@ -1,29 +1,31 @@
 robot_costmap_2d:
+  # Derived from pnkx_nav_core/config/costmap_local_params.yaml.
+  # NUC path is intentional for the user's local test workspace.
+  library_path: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
   global_frame: odom
   robot_base_frame: base_link
   rolling_window: true
   track_unknown_space: false
 
   plugins:
-    - name: voxel_layer
+    # Derived from costmap_local_params_plugins_no_virtual_walls.yaml.
+    - name: obstacles
       type: VoxelLayer
-    - name: inflation_layer
+    - name: inflation
       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
+  transform_tolerance: 1.0
+  performance_metrics_enabled: true
   performance_metrics_period: 5.0
-  update_frequency: 5.0
-  width: 6.0
-  height: 6.0
+  update_frequency: 6.0
+  width: 8.0
+  height: 8.0
   resolution: 0.05
   origin_x: 0.0
   origin_y: 0.0