laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
- inflation_radius: 0.5
+ inflation_radius: 0.25
+
+range_layer:
+ topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
+ no_readings_timeout: 1.0
+ clear_on_max_reading: true