title: Obstacle inflation in costmap_2d
body: <p>I an currently using map_server from a .png file to test some planning algorithms but I now want to see the obstacles inflated in accordance with the robot radius. For this, I tried to use "costmap_2d" with static map.
  This is what I have managed to put together thus far - </p>
  
  <pre><code>&lt;launch&gt;
  &lt;node name="transform" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 map base_frame 10" /&gt;
  &lt;node name="mapServer" pkg="map_server" type="map_server" args="$(find mapwork)/img/map.yaml" /&gt;
  &lt;node pkg="costmap_2d" type="costmap_2d_markers" name="voxel_visualizer"&gt;
  &lt;remap from="voxel_grid" to="costmap/voxel_grid"/&gt;
  &lt;/node&gt;
  &lt;node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" ns="costmap"/&gt;
  &lt;rosparam file="$(find mapwork)/img/gcp.yaml" command="load" /&gt;
  &lt;node name="visualizer" pkg="rviz" type="rviz"/&gt;
  &lt;/launch&gt;
  </code></pre>
  
  <p>And the .yaml file (gcp.yaml): </p>
  
  <pre><code>inflation_radius: 1.0
  cost_scaling_factor: 0.2
  robot_radius: 0.5
  </code></pre>
  
  <p>There is no change in the map with/without the costmap_2d package, what am I missing? </p>