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