test costmap + cam depth 14:38

config/costmap_local_params.yaml

@@ -0,0 +1,32 @@
+local_costmap:
+  # Absolute NUC path is intentional for this local test package. It avoids
+  # boost::dll resolving a relative value such as "libplugins" to ./libplugins.
+  library_path: /home/robotics/DuongTD/dev_ws/devel/lib/libplugins.so
+  global_frame: odom
+  robot_base_frame: base_link
+  update_frequency: 6.0
+  publish_frequency: 6.0
+  rolling_window: true
+  track_unknown_space: false
+  raytrace_range: 3.0
+  resolution: 0.05
+  z_resolution: 0.15
+  z_voxels: 8
+  width: 8.0
+  height: 8.0
+  origin_x: 0.0
+  origin_y: 0.0
+  transform_tolerance: 1.0
+  performance_metrics_enabled: true
+  performance_metrics_period: 5.0
+  footprint_padding: 0.0
+  robot_radius: 0.0
+  footprint:
+    - [0.30, 0.30]
+    - [0.30, -0.30]
+    - [-0.30, -0.30]
+    - [-0.30, 0.30]
+
+  inflation:
+    cost_scaling_factor: 10.0
+    inflation_radius: 0.3