local_costmap.yaml

# SETUP

global_frame: /map
robot_base_frame: /amigo/base_link
rolling_window: true
track_unknown_space: false
resolution: 0.025
width: 5.0
height: 5.0
robot_radius: 0.35

update_frequency: 0.0
publish_frequency: 0.0

always_send_full_costmap: true

# LAYER SETUP

plugins:
    - {name: ed_occupancy_grid,                 type: "costmap_2d::StaticLayer"}
    - {name: robot_footprint,                   type: "costmap_2d::FootprintLayer"}
    - {name: configuration_space,               type: "costmap_2d::InflationLayer"}


# LAYER CONFIGURATION

ed_occupancy_grid:
    map_topic: /ed/navigation/map
    track_unknown_space: true
    use_maximum: true
    lethal_cost_threshold: 99

# Workspace to configuration space
configuration_space:
    use_footprint: false
    target_cell_value: 254
    dilation_cell_value: 253
    dilation_radius: 0.35 # inscribed radius
    inflation_radius: 1.0 # optimization
    cost_scaling_factor: 5.0