+static_layer:
+ # Can pull data from gmapping, map_server or a non-rolling costmap
+ map_topic: /map
+ # map_topic: move_base/global_costmap/costmap
+ subscribe_to_updates: true
+
+range_layer:
+ topics: ["/range_forward", "/range_backward"]
+ no_readings_timeout: 1.0
+ clear_on_max_reading: true
+