--- /dev/null
+footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
+inflation_radius: 0.55
+
+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}