observation_sources: laser_scan_sensor
obstacle_range: 2.5
raytrace_range: 3.0
- laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+ laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
- inflation_radius: 0.25
+ inflation_radius: 0.20
range_layer:
- topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
+ topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
no_readings_timeout: 1.0
clear_on_max_reading: true
+ mark_threshold: 0.7
+ inflate_cone: 0.0