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The total cost of a cell in a costmap is calculated from a set of layers that, together, define the whole costmap. The three most common layers and the associated documentation of all parameters are:

1. Static Map Layer
2. Obstacle Map Layer
3. Inflation Layer

Nearly all the examples you have likely found on GitHub are using defining the parameters in their YAML files according to the documentation on the 3 previous links. Note that there is also an old, pre-Hydro way of defining costmap params that you may still find lurking on the internet, and there are a few additional layers that people have developed. This is all described at the end of the costmap_2d page.