costmap_common_params:
  update_frequency: 10.0
  publish_frequency: 5.0
  global_frame: map
  robot_base_frame: base_link
  use_sim_time: false
  rolling_window: false
  robot_radius: 0.35
  plugins:
    - name: static_layer
      type: nav2_costmap_2d::StaticLayer
      map_subscribe_transient_local: true
      enabled: true
    - 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
      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: 0.0
        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: false
      inflate_around_unknown: true
  lethal_cost_threshold: 100
  unknown_cost_value: -1
  resolution: 0.05
