global_costmap:
  plugins:
    - { name: static_layer,    type: "costmap_2d::StaticLayer" }
    # - { name: keep_out_layer,  type: "costmap_2d::KeepOutLayer" }
    - { name: obstacle_layer,  type: "costmap_2d::ObstacleLayer" }
    - { name: inflation_layer, type: "costmap_2d::InflationLayer" }

  track_unknown_space: false
  global_frame: map
  robot_base_frame: base_link
  map_type: costmap
  # footprint: [[0.3, 0.15], [0.25, 0.2], [-0.1, 0.2], [-0.1, -0.2], [0.25, -0.2], [0.3, -0.15]]
  # footprint_padding: 0.05
  robot_radius: 0.2

  update_frequency: 5
  publish_frequency: 0.5
  transform_tolerance: 0.5

  static_map: true
  always_send_full_costmap: false
  resolution: 0.05

  static_layer:
    map_topic:  /map # /grid_map_realtime #
    track_unknown_space: false

  # keep_out_layer:
  #   enabled: true
  #   fill_zones: false
  #   inflation_option: 3

  obstacle_layer:
    observation_sources: 3dscan # 2dscan # /cloud_registered_body
    3dscan: { sensor_frame: body, data_type: PointCloud2, topic: /cloud_registered_body, obstacle_range: 10, raytrace_range: 10, marking: true, clearing: true,  min_obstacle_height: -0.3, max_obstacle_height: 0.1 }
    # 2dscan: { sensor_frame: laser_link, data_type: LaserScan, topic: scan, obstacle_range: 6.0, raytrace_range: 6.5, marking: true, clearing: true }
    track_unknown_space: false
    inflation_option: 3

  inflation_layer:
    inflation_radius: 0.2
    cost_scaling_factor: 2.61

local_costmap:
  plugins:
    - { name: static_layer,    type: "costmap_2d::StaticLayer" }
    # - { name: keep_out_layer,  type: "costmap_2d::KeepOutLayer" }
    - { name: obstacle_layer,  type: "costmap_2d::ObstacleLayer" }
    - { name: inflation_layer, type: "costmap_2d::InflationLayer" }

  static_layer:
    map_topic:  /map # /grid_map_realtime #
    track_unknown_space: false

  global_frame: map
  robot_base_frame: base_link
  map_type: costmap
  # footprint: [[0.3, 0.15], [0.25, 0.2], [-0.1, 0.2], [-0.1, -0.2], [0.25, -0.2], [0.3, -0.15]]
  # footprint_padding: 0.0
  robot_radius: 0.2

  update_frequency: 5 #5
  publish_frequency: 2 # 1.0
  transform_tolerance: 0.5

  static_map: false
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05

  # keep_out_layer:
  #   enabled: true
  #   fill_zones: false
  #   inflation_option: 3

  obstacle_layer:
    observation_sources: 3dscan # 2dscan
    3dscan: { sensor_frame: body, data_type: PointCloud2, topic: /cloud_registered_body, obstacle_range: 3, raytrace_range: 3, marking: true, clearing: true,  min_obstacle_height: -0.2, max_obstacle_height: 0.2 }
    # 2dscan: { sensor_frame: laser_link, data_type: LaserScan, topic: scan, obstacle_range: 6.0, raytrace_range: 6.5, marking: true, clearing: true }
    track_unknown_space: false
    inflation_option: 3

  inflation_layer:
    inflation_radius: 0.2
    cost_scaling_factor: 2.61