Hi, I'm using spatio temporal voxel layer as a plugin for move base. I want to use it as a local map which means that I want the costmap not to represent my complete environment, but only to represent my local surroundings (e.g. 1m x 1m around your robot). I want the costmap to move along with my robot and dropping obstacle information from the map as the robot moves too far from a given area. I set this parameters:

localcostmap: globalframe: odom
robotbaseframe: cameralink
rollingwindow: true width: 0.1
height: 0.1 resolution: 0.025
staticmap: false resolution: 0.15
publishfrequency: 1
updatefrequency: 15.0 plugins: - {name: rgbdobstaclelayer, type: "spatiotemporalvoxellayer/SpatioTemporalVoxelLayer"}

But I don't get such behavior, is there support for such functionality in stvl? or voxel decay is what determines the voxel presence in situations like this?