obstacle_layer:
  enabled: true
  track_unknown_space: false
  transform_tolerance: 1.0
  footprint_clearing_enabled: true
  combination_method: 1

  # Subset of costmap_common_params.yaml for the topics available in this
  # local depth-camera test.
  observation_sources: pc_marking pc_clearing

  pc_marking:
    topic: /camera/depth/points_proc
    data_type: PointCloud2
    clearing: false
    marking: true
    inf_is_valid: false
    frustum_clearing_enabled: false
    observation_persistence: 0.0
    expected_update_rate: 0.5
    obstacle_range: 2.5
    raytrace_range: 3.0
    min_obstacle_height: 0.1
    max_obstacle_height: 1.0

  pc_clearing:
    topic: /camera/depth/data
    data_type: DepthCameraData
    clearing: false
    marking: true
    inf_is_valid: false
    frustum_clearing_enabled: true
    frustum_clearing_pixel_step: 8
    frustum_min_range: 0.20
    frustum_max_range: 3.5
    observation_persistence: 0.0
    expected_update_rate: 0.5
    obstacle_range: 2.5
    raytrace_range: 3.5
    min_obstacle_height: 0.1
    max_obstacle_height: 1.0