#max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot
#obstacle_range: 4.0 #2.5
#raytrace_range: 3.0
#inflation_radius: 0.25
#update_frequency: 2

#width: 5.0
#height: 5.0
#resolution: 0.15


#observation_sources: scan point_cloud

#scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, inf_is_valid: true, min_obstacle_height: 0.08, max_obstacle_height: 1.0}

#point_cloud: {data_type: PointCloud, topic: /filtered_cloud, marking: true, clearing: true}