diff --git a/params/costmap/3d_common_params.yaml b/params/costmap/3d_common_params.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..162831ec14c05f3dcf3c27145980d322ddc2f192
--- /dev/null
+++ b/params/costmap/3d_common_params.yaml
@@ -0,0 +1,142 @@
+# footprint parameters
+footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3,-0.3 ], [-0.3, 0.3]]
+#robot_radius: 0.3
+footprint_padding: 0.01
+footprint_topic: /ana/footprint
+published_footprint_topic: false
+
+robot_base_frame: /ana/base_footprint
+track_unknown_space: false
+always_send_full_costmap: false
+transform_tolerance: 1.0
+width: 10.0
+height: 10.0
+resolution: 0.1
+origin_x: 0.0
+origin_y: 0.0
+
+obstacle_layer_lidar:
+  enabled: true
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  max_obstacle_height: 10.0
+  footprint_clearing_enabled: false
+  combination_method: 1 
+  observation_sources:  lidar_marking
+  lidar_marking: {
+    sensor_frame: /ana/base_footprint,
+    data_type: LaserScan,
+    topic: /ana/lidar_detector/scan_out,
+    observation_persistence: 0.0,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: -10.0,
+    max_obstacle_height: 10.0,
+    expected_update_rate: 1,
+    obstacle_range: 5.0,
+    raytrace_range: 200.0
+  }
+
+obstacle_layer_camera:
+  enabled: true
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  max_obstacle_height: 100.0 #1.0
+  footprint_clearing_enabled: false
+  combination_method: 1
+  observation_sources:  camera_marking
+
+  camera_marking: {
+    sensor_frame: /ana/base_footprint,
+    data_type: PointCloud,
+    topic: /ana/obstacle_detection_normals/obstacles,
+    observation_persistence: 0.0,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: -100.0,
+    max_obstacle_height: 100.0,
+    expected_update_rate: 1,
+    obstacle_range: 5.0,
+    raytrace_range: 10.0
+  }
+
+hole_layer_near_camera:
+  enabled: true
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  max_obstacle_height: 100.0 #1.0
+  footprint_clearing_enabled: false
+  combination_method: 1
+  observation_sources: hole_near_marking hole_near_clearing
+
+  hole_near_marking: {
+    sensor_frame: /ana/base_footprint,
+    data_type: PointCloud2,
+    topic: /ana/near_hole_detection/hole_obstacle,
+    observation_persistence: 0.0,
+    marking: true,
+    clearing: false,
+    min_obstacle_height: -100.0,
+    max_obstacle_height: 100.0,
+    expected_update_rate: 1,
+    obstacle_range: 5.0,
+    raytrace_range: 10.0
+  }
+
+  hole_near_clearing: {
+    sensor_frame: /ana/base_footprint,
+    data_type: PointCloud2,
+    topic: /ana/near_hole_detection/hole_zone,
+    observation_persistence: 0.0,
+    marking: false,
+    clearing: true,
+    min_obstacle_height: -100.0,
+    max_obstacle_height: 100.0,
+    expected_update_rate: 1,
+    obstacle_range: 5.0,
+    raytrace_range: 10.0
+  }
+
+hole_layer_far_camera:
+  enabled: true
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  max_obstacle_height: 100.0 #1.0
+  footprint_clearing_enabled: false
+  combination_method: 1
+  observation_sources: hole_far_marking hole_far_clearing
+
+  hole_far_marking: {
+    sensor_frame: /ana/base_footprint,
+    data_type: PointCloud2,
+    topic: /ana/far_hole_detection/hole_obstacle,
+    observation_persistence: 0.0,
+    marking: true,
+    clearing: false,
+    min_obstacle_height: -100.0,
+    max_obstacle_height: 100.0,
+    expected_update_rate: 1,
+    obstacle_range: 5.0,
+    raytrace_range: 10.0
+  }
+
+  hole_far_clearing: {
+    sensor_frame: /ana/base_footprint,
+    data_type: PointCloud2,
+    topic: /ana/far_hole_detection/hole_zone,
+    observation_persistence: 0.0,
+    marking: false,
+    clearing: true,
+    min_obstacle_height: -100.0,
+    max_obstacle_height: 100.0,
+    expected_update_rate: 1,
+    obstacle_range: 5.0,
+    raytrace_range: 10.0
+  }
+
+inflation_layer:
+  enabled: true
+  inflate_unknown: false
+  inflation_radius: 2.0
+  cost_scaling_factor:  1.8
+  inflation_radius:     1.0
diff --git a/params/costmap/3d_local_params.yaml b/params/costmap/3d_local_params.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..3a1d990ad00d82e789e25d59fbc2925f002dae1f
--- /dev/null
+++ b/params/costmap/3d_local_params.yaml
@@ -0,0 +1,20 @@
+#local_costmap:  ###namespace added when loading parameters in move_base.launch
+global_frame: ana/odom
+update_frequency: 5.0
+publish_frequency: 2.0
+rolling_window: true
+width: 10.0
+height: 10.0
+resolution: 0.1
+#origin_x: 0.0
+#origin_y: 0.0
+
+#costmap plugins
+plugins:
+ - {name: obstacle_layer_lidar,   type: "costmap_2d::ObstacleLayer"}
+ - {name: obstacle_layer_camera,  type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
+ - {name: hole_layer_far_camera,  type: "costmap_2d::ObstacleLayer"}
+ - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}
+
+
diff --git a/params/costmap/map/3d_global_params.yaml b/params/costmap/map/3d_global_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..09fc474b71a4643b2f55a495eaafb61aac8b4b61
--- /dev/null
+++ b/params/costmap/map/3d_global_params.yaml
@@ -0,0 +1,24 @@
+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: map
+update_frequency: 1.0
+publish_frequency: 1.0
+rolling_window: false
+
+plugins:
+  - {name: static_layer,          type: "costmap_2d::StaticLayer"}
+  - {name: obstacle_layer_lidar,  type: "costmap_2d::ObstacleLayer"}
+  - {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
+  - {name: hole_layer_near_camera,type: "costmap_2d::ObstacleLayer"}
+  - {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer,       type: "costmap_2d::InflationLayer"}
+    
+static_layer:
+  enabled: true
+  map_topic: /map
+  first_map_only: false
+  subscribe_to_updates: false
+  unknown_cost_value: -1
+  use_maximum: false
+  lethal_cost_threshold: 100
+  track_unknown_space: true
+  trinary_costmap: true
diff --git a/params/costmap/no_map/3d_global_params.yaml b/params/costmap/no_map/3d_global_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..27c383a2547dc4fa1fd7ef61824da7877ff76967
--- /dev/null
+++ b/params/costmap/no_map/3d_global_params.yaml
@@ -0,0 +1,18 @@
+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: /ana/odom
+update_frequency: 1.0
+publish_frequency: 0.0
+rolling_window: true
+transform_tolerance: 1.0
+width: 20.0
+height: 20.0
+resolution: 0.2
+origin_x: 0.0
+origin_y: 0.0
+
+plugins:
+  - {name: obstacle_layer_lidar,   type: "costmap_2d::ObstacleLayer"}
+  - {name: obstacle_layer_camera,  type: "costmap_2d::ObstacleLayer"}
+  - {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
+  - {name: hole_layer_far_camera,  type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}