switched map type to voxel to allow 3d obstacles in costmap

stretch_rtab/config/3d/costmap_common_params.yaml

@@ -8,14 +8,14 @@ footprint: [[0.05,0.175],[-0.30,0.175],[-0.30,-0.175],[0.05,-0.175]]
 footprint_padding: 0.0
 
 transform_tolerance: 0.5
-map_type: costmap
+map_type: voxel
 
 3d_obstacles:
   enabled: true
   max_obstacle_height:  1.5
   origin_z: 0.0
   z_resolution: 0.05
-  z_voxels: 16
+  z_voxels: 30
   unknown_threshold: 15
   mark_threshold: 0
   combination_method: 1