local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 10.0
      publish_frequency: 5.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: false
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.35
      plugins:
        - name: obstacle_layer
          type: nav2_costmap_2d::ObstacleLayer
          enabled: true
          observation_sources: scan camera_depth
          scan:
            topic: /scan
            max_obstacle_height: 2.5
            min_obstacle_height: 0.0
            clearing: true
            marking: true
            data_type: LaserScan
            raytrace_max_range: 10.0
            raytrace_min_range: 0.0
            expected_update_rate: 5.5
            observation_persistence: 0.0
          camera_depth:
            topic: /camera/depth/color/points
            max_obstacle_height: 2.5
            min_obstacle_height: 0.0
            clearing: false
            marking: true
            data_type: PointCloud2
            sensor_frame: camera_link
            expected_update_rate: 15.0
            observation_persistence: 0.5
            inf_is_valid: false
            filter: passthrough
            filter_value: 5.0
        - name: inflation_layer
          type: nav2_costmap_2d::InflationLayer
          enabled: true
          inflation_radius: 0.55
          cost_scaling_factor: 10.0
          inflate_unknown: true
          inflate_around_unknown: false
      track_unknown_space: true
      unknown_cost_value: 0
