3 robot_base_frame: base_footprint
12 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
13 #- {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"}
14 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
17 topics: ["range_forward", "range_backward", "range_left", "range_right"]
18 no_readings_timeout: 1.0