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

plugins:
  - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
  - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}

obstacle_layer:
  obstacle_range: 2.5
  raytrace_range: 3.0
  max_obstacle_height: 0.4
  track_unknown_space: true
 
  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB

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

  point_cloud_sensorA: {
    sensor_frame: base_footprint,
    data_type: PointCloud2, 
    topic: obstacles_cloud, 
    expected_update_rate: 0.5, 
    marking: true, 
    clearing: true,
    min_obstacle_height: 0.04
  }

  point_cloud_sensorB: {
    sensor_frame: base_footprint,
    data_type: PointCloud2,
    topic: ground_cloud,
    expected_update_rate: 0.5,
    marking: false,
    clearing: true,
    min_obstacle_height: -1.0 # make usre the ground is not filtered
  }