代價地圖通用參數配置文件,就是全局代價地圖和局部代價地圖
//http://www.ros.org/wiki/costmap_2d
#For this example we'll configure the costmap in voxel-grid mode
map_type: voxel
#Voxel grid specific parameters
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0
#Set the tolerance we're willing to have for tf transforms
transform_tolerance: 0