This package provides an implementation of a 2D costmap that takes in sensor  data from the world, builds a 2D or 3D occupancy grid of the data (depending  on whether a voxel based implementation is used), and inflates costs in a  2D costmap based on the occupancy grid and a user specified inflation radius.  This package also provides support for map_server based initialization of a  costmap, rolling window based costmaps, and parameter based subscription to  and configuration of sensor topics.