costmap_common_params.yaml

max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot
#obstacle_range: 2.5
#raytrace_range: 3.0
inflation_radius: 0.50
update_frequency: 3.0

#width: 5.0
#height: 5.0
resolution: 0.15

observation_sources: scan virtual_wall

scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true,inf_is_valid: true, min_obstacle_height: 0.15, max_obstacle_height: 1.0, obstacle_range: 2.5, raytrace_range: 100.0}

virtual_wall: {data_type: PointCloud2, topic: /virtual_wall_cloud, marking: true, clearing: true, obstacle_range: 100000, raytrace_range: 100000}