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You can check an example costmap configuration from here. Otherwise as far as I can see not much has change and you should be able to use the parameters from the link you shared. Hydro and later releases use plugins for all costmap_2d layers.

You can check an example costmap configuration from here. Otherwise as far as I can see not much has change and you should be able to use the parameters from the link you shared. Hydro and later releases use plugins for all costmap_2d layers.
Also you can always check existing costmap configuration like the husky_navigation one.

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