static_layer:
  enabled: true
  first_map_only: false
  subscribe_to_updates: false
  track_unknown_space: true
  use_maximum: false
  lethal_cost_threshold: 100
  unknown_cost_value: -1
  trinary_costmap: true
  base_frame_id: "map"

inflation_layer:
  enabled: true
  inflate_unknown: false
  cost_scaling_factor: 15.0
  inflation_radius: 0.55

obstacle_layer:
  track_unknown_space: true
  transform_tolerance: 0.2
  topic: "map"
  sensor_frame: laser_frame
  observation_persistence: 0.0
  expected_update_rate: 0.0
  data_type: PointCloud
  min_obstacle_height: 0.0
  max_obstacle_height: 2.0
  inf_is_valid: false
  clearing: false
  marking: true
  obstacle_range: 2.5
  raytrace_range: 3.0
  footprint_clearing_enabled: true
  combination_method: 1

voxel_layer:
  enabled: true
  footprint_clearing_enabled: true
  max_obstacle_height: 3.0
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 16
  unknown_threshold: 15.0
  mark_threshold: 0
  combination_method: 3