footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]] obstacle_layer: observation_sources: laser_scan_sensor obstacle_range: 2.5 raytrace_range: 3.0 laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true} inflation_layer: inflation_radius: 0.20 range_layer: 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