footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]] inflation_radius: 0.5 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}