This is a costmap plugin forked from tsengapola/costmap_depth_camera
I modified it to work on ROS kinetic and downsample the point cloud to make it faster.
The costmap publishing frequency is 10Hz on my PC with Intel® Xeon® E3 6th-Gen Core™ i7 CPU and 32 GB DDR4 memory.
The tested depth camera is Intel RealSense L515.
