-obstacle_range: 2.5
-raytrace_range: 3.0
-#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
-robot_radius: 0.15
+footprint: [ [0.22, 0.11], [-0.08, 0.11], [-0.08, -0.11], [0.22, -0.11] ]
+#robot_radius: 0.15
inflation_radius: 0.55
-observation_sources: laser_scan_sensor
-
-laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+obstacle_layer:
+ 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}