robot_base_frame: base_link
transform_tolerance: 1.0
performance_metrics_enabled: true
performance_metrics_period: 5.0
obstacle_range: 3.0
publish_voxel_map: true
footprint_padding: 0.0

obstacles:
  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: 2
    frustum_min_range: 0.20
    frustum_max_range: 3.5
    frustum_skip_distance: 0.05
    frustum_column_clearing: true
    column_clear_min_height: 0.10
    column_clear_max_height: -1.0
    column_skip_distance: 0.02
    column_cover_distance: 0.2
    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