obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
footprint_padding: 0.03
#robot_radius: ir_of_robot
inflation_radius: 0.55
transform_tolerance: 1

#observation_sources: laser_scan_sensor point_cloud_sensor
observation_sources: point_cloud_sensor

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

point_cloud_sensor: {
  sensor_frame: base_footprint,
  data_type: PointCloud2, 
  topic: openni_points, 
  expected_update_rate: 0.5, 
  marking: true, 
  clearing: true}

controller_patience: 2.0

NavfnROS:
    allow_unknown: true

recovery_behaviors: [
    {name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
    {name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
]

conservative_clear: 
    reset_distance: 3.00
aggressive_clear:
    reset_distance: 1.84