Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.
You must specify the robot_footprint or the robot_radius in your costmap_common_params.yaml. I suggest you to look at the full list of parameters for costmaps here.
Moreover I think you should run something like amcl for localization instead of the static transform.