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}
+ 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