local_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 5.0
  rolling_window: true
  resolution: 0.05
  width: 8
  height: 8
  always_send_full_costmap: true
  transform_tolerance: 1.0
  
  plugins:
    - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
    - {name: inflater_layer, type: "costmap_2d::InflationLayer"}
  
  obstacle_layer:
    observation_sources: scan
    scan:
      data_type: LaserScan
      topic: /scan
      sensor_frame: velodyne_link
      marking: true
      clearing: true
      inf_is_valid: true
      max_obstacle_height: 2.5
      min_obstacle_height: 0.0
      obstacle_range: 8
      raytrace_range: 8
      observation_persistence: 0.0
  
  inflater_layer:
    inflation_radius: 0.4
    cost_scaling_factor: 5.0

# https://answers.ros.org/question/326867/local_costmap-not-showing-every-obstacle/
