obstacle_range: 5.0
raytrace_range: 7.0

footprint: [[0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1]]
inflation_radius: 0.3
cost_scaling_factor: 5.0

rigin_z: 0.0
z_resolution: 0.2
z_voxels: 0.2
publish_voxel_map: false
max_obstacle_height: 0.4
min_obstacle_height: 0.01

observation_sources: velodyne_sensor
velodyne_sensor: {sensor_frame: velodyne_link, data_type: PointCloud2, topic: points2, marking: true, clearing: true}

obstacle_range: 5.0
raytrace_range: 7.0

footprint: [[0.15, 0.13], [0.15, -0.13], [-0.15, -0.13], [-0.15, 0.13]]
inflation_radius: 0.3
cost_scaling_factor: 5.0

rigin_z: 0.0
z_resolution: 0.2
z_voxels: 0.2
publish_voxel_map: false
max_obstacle_height: 0.4
min_obstacle_height: 0.01

observation_sources: velodyne_sensor
velodyne_sensor: {sensor_frame: velodyne_link, data_type: PointCloud2, topic: points2, marking: true, clearing: true}

Fix footprint param on costmap common params
Fix footprint param on costmap common params
