obstacle_range: 2.5
raytrace_range: 3.0
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
- combination_method: 0 # overwrite
inflation_layer:
- inflation_radius: 0.20
+ inflation_radius: 0.22
range_layer:
topics: ["/range_forward_left", "/range_backward", "/range_forward_right"]