1 footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
4 observation_sources: laser_scan_sensor
7 laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
10 inflation_radius: 0.22
13 topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]
14 no_readings_timeout: 1.0
15 clear_on_max_reading: true