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

obstacle_layer:
  obstacle_range: 2.5
  raytrace_range: 3
  max_obstacle_height: 0.4
  track_unknown_space: true

  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB

  laser_scan_sensor: {
    data_type: LaserScan,
    topic: base_scan,
    expected_update_rate: 0.2,
    marking: true,
    clearing: true
  }

  point_cloud_sensorA: {
    sensor_frame: base_footprint,
    data_type: PointCloud2,
    topic: obstacles_cloud,
    expected_update_rate: 0.5,
    marking: true,
    clearing: true,
    min_obstacle_height: 0.04
  }

  point_cloud_sensorB: {
    sensor_frame: base_footprint,
    data_type: PointCloud2,
    topic: ground_cloud,
    expected_update_rate: 0.5,
    marking: false,
    clearing: true,
    min_obstacle_height: -1.0 # make usre the ground is not filtered
  }