Costmap common params.yaml

# http://wiki.ros.org/navigation/Tutorials/RobotSetup section 2.3.1
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.23,0.155], [-0.23,0.155], [-0.23,-0.155], [0.23,-0.155]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: scan 

scan: {sensor_frame: laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}