obstacle_range: 5.0
raytrace_range: 10.0

footprint: [[0.25, -0.18], [0.25, 0.18], [-0.15, 0.18], [-0.15, -0.18]]
inflation_radius: 0.3
cost_scaling_factor: 10.0

origin_z: 0.0
z_resolution: 0.02
z_voxels: 0.02
publish_voxel_map: true

observation_sources: lrf_sensor
lrf_sensor: {
  sensor_frame: robot2/lrf_link,
  data_type: LaserScan,
  topic: scan,
  # expected_update_rate: 1.0,
  observation_persistence: 0.0, 
  marking: true,
  clearing: true,
  min_obstacle_height: 0.2,
  max_obstacle_height: 1.0,
}

