costmap_common_params.yaml

obstacle_range: 2.0
raytrace_range: 2.5
footprint: [[0.30, 0.30], [0.30, -0.30], [-0.30, -0.30], [-0.30, 0.30]] 
#inflation_radius: 1.0
#cost_scaling_factor: 5.0
transform_tolerance : 0.5
obstacle_layer:
  observation_sources: laser_scan_sensor 
  laser_scan_sensor: {sensor_frame: xv11, data_type: LaserScan, topic: /xv11_scan, marking: true, clearing: true, expected_update_rate: 0.4}

sonar_layer:
    topics: ["/sonar1", "/sonar2", "/sonar3", "/sonar4", "/sonar5", "/sonar6", "/sonar7", "/sonar8", "/sonar9", "/sonar10", "/sonar11"]
    #topics: ["sonar7", "sonar8"]
    no_readings_timeout: 0.0
    clear_threshold: 0.46
    mark_threshold: 0.98
    clear_on_max_reading: true