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Take a look at the navstack robot configuration tutorial. Here under the Costmap Configuration you can see the common configuration for both global and local costmaps. Parameters such as the footprint of the robot usually go under the costmap_common_params.yaml file. Here you can set the footprint parameter represent the robot as a polygon in both global and local costmaps. Example:

footprint: [[-0.5, -0.33], [-0.5, 0.33], [0.5, 0.33], [0.5, -0.33]]

Take a look at the navstack robot configuration tutorial. Here under the Costmap Configuration you can see the common configuration for both global and local costmaps. Parameters such as the footprint of the robot usually go under the costmap_common_params.yaml file. Here you can set the footprint parameter represent the robot as a polygon in both global and local costmaps. Example:

footprint: [[-0.5, -0.33], [-0.5, 0.33], [0.5, 0.33], [0.5, -0.33]]

<launch>
  <node name="gp" pkg="global_planner" type="planner" output="screen">
  <rosparam>
  costmap:
    footprint: [[-0.5, -0.33], [-0.5, 0.33], [0.5, 0.33], [0.5, -0.33]]
    plugins:
      - {name: 'static_layer', type: 'costmap_2d::StaticLayer'}
  </rosparam>
  </node>
  <node name="static_tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /base_link 100"/>
  <node name="map_srv" pkg="map_server" type="map_server" args="/home/my_name/Desktop/path-planning/maps/map.yml"/>
</launch>