local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.025
  origin_x: -2.0
  origin_y: -2.0

  #observation_sources: laser_scan_sensor point_cloud_sensor
  observation_sources: point_cloud_sensor

  laser_scan_sensor: {
    data_type: LaserScan, 
    topic: base_scan, 
    expected_update_rate: 0.2, 
    marking: true, 
    clearing: true}

  # assuming receiving a cloud from rtabmap/obstacles_detection node
  point_cloud_sensor: {
    sensor_frame: base_footprint,
    data_type: PointCloud2, 
    topic: openni_points, 
    expected_update_rate: 0.5, 
    marking: true, 
    clearing: true,
    min_obstacle_height: -99999.0,
    max_obstacle_height: 0.5}