footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
footprint_padding: 0.02
#robot_radius: 0.38
#robot_radius: ir_of_robot
inflation_layer:
  inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
transform_tolerance: 2