This repo contains the Nav2 parameters to be used with c3pzero_siteconfig.
There are many parameters in the params file, but the particular parameters of interest are: base_frame_id, robot_model_type, local_costmap/footprint, local_costmap/inflation_radius, global_costmap/robot_radius, global_costmap/inflation_layer/inflation_radius, planner_server, map_server/yaml_filename