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