obstacle_range: 6.0
raytrace_range: 8.5
footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
map_topic: /map
subscribe_to_updates: true

observation_sources: scanleft scanright scanfront
scanleft: {
        data_type: LaserScan,
        topic: cam_left/scan,
        marking: true,
        clearing: true,
        min_obstacle_height: 0.0,
        max_obstacle_height: 3
      }

scanright: {
        data_type: LaserScan,
        topic: cam_right/scan,
        marking: true,
        clearing: true,
        min_obstacle_height: 0.0,
        max_obstacle_height: 3
      }
scanfront: {
        data_type: LaserScan,
        topic: cam_front/scan,
        marking: true,
        clearing: true,
        min_obstacle_height: 0.0,
        max_obstacle_height: 3
      }

global_frame: map
robot_base_frame: base_link
always_send_full_costmap: true
