local costmap config file with spatio temporal voxel layer

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  update_frequency: 6.0
  publish_frequency: 6.0
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  plugins: 
  - name: static_map
    type: "costmap_2d::StaticLayer"
  - name: laser_obstacles
    type: "costmap_2d::VoxelLayer"
  # - name: sonar_obstacles
  #   # type: "costmap_2d::VoxelLayer"
  #   type: "range_sensor_layer::RangeSensorLayer"
  - name: inflation
    type: "costmap_2d::InflationLayer"
  - name: depth_layer
    type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
  
  laser_obstacles:
    observation_sources: pepper_laser
    pepper_laser: 
      sensor_frame: base_footprint
      data_type: LaserScan
      topic: /pepper/laser_scan
      marking: true
      clearing: true
    max_obstacle_height: 0.4
    z_resolution: 0.05
    z_voxels: 10
    publish_voxel_map: true
  # sonar_obstacles:
  #   observation_sources: pepper_sonar_front pepper_sonar_back
  #   combination_method: 1
  #   pepper_sonar_front: 
  #     sensor_frame: base_footprint
  #     data_type: PointCloud2
  #     topic: /pepper/sonar_front_pc
  #     expected_update_rate: 10.0
  #     observation_persistence: 0.0
  #     marking: true
  #     clearing: true
  #     raytrace_range: 3.0
  #     obstacle_range: 2.5
  #     min_obstacle_height: 0.1
  #     max_obstacle_height: 1.8
  #   pepper_sonar_back: 
  #     sensor_frame: base_footprint
  #     data_type: PointCloud2
  #     topic: /pepper/sonar_back_pc
  #     expected_update_rate: 10.0
  #     observation_persistence: 0.0
  #     marking: true
  #     clearing: true
  #     raytrace_range: 3.0
  #     obstacle_range: 2.5
  #     min_obstacle_height: 0.1
  #     max_obstacle_height: 1.8
  #   max_obstacle_height: 0.4
  #   z_resolution: 0.05
  #   z_voxels: 10
  #   publish_voxel_map: true
  # sonar_obstacles:
  #   topics: ["/pepper/sonar_front", "/pepper/sonar_back"]
  #   clear_threshold: 0.2
  #   mark_threshold: 0.8
  #   clear_on_max_reading: true
  #   phi: 0.0
  #   inflate_cone: 0.0
  #   enabled: false
  inflation:
    cost_scaling_factor: 10.0 # 2.5
    inflation_radius: 0.1 # 1.0
  static_map:
    enabled: false

  depth_layer:
    enabled:               true
    voxel_decay:           5     #seconds if linear, e^n if exponential
    decay_model:           0      #0=linear, 1=exponential, -1=persistent
    voxel_size:            0.05   #meters
    track_unknown_space:   true   #default space is unknown
    observation_persistence: 0.0  #seconds
    max_obstacle_height:   2.0    #meters
    unknown_threshold:     15     #voxel height
    mark_threshold:        0      #voxel height
    update_footprint_enabled: true
    combination_method:    1      #1=max, 0=override
    obstacle_range:        3.0    #meters
    origin_z:              0.0    #meters
    publish_voxel_map:     true   # default off
    transform_tolerance:   0.2    # seconds
    mapping_mode:          false  # default off, saves map not for navigation
    map_save_duration:     60     #default 60s, how often to autosave
    observation_sources:   depth_clear depth_mark
    depth_mark:
      data_type: PointCloud2
      topic: /pepper/camera/depth_registered/points
      marking: true
      clearing: false
      min_obstacle_height: 0.3     #default 0, meters
      max_obstacle_height: 2.0     #defaule 3, meters
      expected_update_rate: 0.0    #default 0, if not updating at this rate at least, remove from buffer
      observation_persistence: 0.0 #default 0, use all measurements taken during now-value, 0=latest 
      inf_is_valid: false          #default false, for laser scans
      clear_after_reading: true    #default false, clear the buffer after the layer gets readings from it
      voxel_filter: true           #default off, apply voxel filter to sensor, recommend on 
    depth_clear:
      data_type: PointCloud2
      topic: /pepper/camera/depth_registered/points
      marking: false
      clearing: true
      min_z: 0.1                   #default 0, meters
      max_z: 7.0                   #default 10, meters
      vertical_fov_angle: 1.01      #58 degrees   #default 0.7, radians
      horizontal_fov_angle: 1.25   #72 degrees   #default 1.04, radians
      decay_acceleration: 1.       #default 0, 1/s^2. If laser scanner MUST be 0
      model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar