footprint: [[0.1, -0.1], [0.1, 0.1], [-0.1,0.1], [-0.1, -0.1]]
footprint_padding: 0.01
map_type: costmap

obstacle_range: 6.5
raytrace_range: 10
update_frequency: 5.0
publish_frequency: 5.0

transform_tolerance: 0.2


inflation_radius: 0.18
observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
