footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
#robot_radius: 0.17

transform_tolerance: 0.2
map_type: costmap

obstacle_layer:
 enabled: true
 obstacle_range: 8.0
 raytrace_range: 10.0
 track_unknown_space: true
 combination_method: 1

 observation_sources: scan

 scan: {sensor_frame: laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0.5, observation_persistence: 0.0, min_obstacle_height: -0.10, max_obstacle_height: 2.0}

static_layer:
  enabled:              true
  map_topic:            "/map"
  first_map_only:       false
  subscribe_to_updates: false
  trinary_costmap:      false
