Tuning the costamp_converter plugins

[mifalmeida]

Hi,
I am trying to use the costmap_converter. I am publishing a costmap with costmap_2d API. And then launching the costmap_converter to publish an obstacle list based on that costmap. How to tune the costmap_converter plugins to give a single obstacle instead of a list of polygons? I am looking for a boundingSphere. As you can see, it is a single object but it publish a several obstacles.

Thanks in advance!