configuration costmap

edit

Hi folks! On my setup, there is a ceiling camera for position and direction detection and an empty rectangular arena with a very small circular robot. The robot doesn't have any laser scanner or camera capabilities and should just follow a given path smoothly. How can I achieve this with ROS navigation?

In particular, how do I setup the costmap (yaml) configuration files?

I haven't found any documentation for that on the costmap_2d wiki page, just as it was used in the tutorials.

Also, which of the given planners should I use?