robot_base_frame: $(arg prefix)base_footprint
transform_tolerance: 0.2
obstacle_range: 3.0
#mark_threshold: 1
publish_voxel_map: true
footprint_padding: 0.0
navigation_map:
  map_topic: /map
virtual_walls_map:
  map_topic: /virtual_walls/map
  use_maximum: true
  lethal_cost_threshold: 100
preferred_zones_map:
  map_topic: /preferred_zones/map
  lethal_cost_threshold: 100
  use_maximum: true
unpreferred_zones_map:
  map_topic: /unpreferred_zones/map
  lethal_cost_threshold: 100
  use_maximum: true
critical_zones_map:
  map_topic: /critical_zones/map
  lethal_cost_threshold: 100
  use_maximum: true
  # subscribe_to_updates: true
direction_zones_map:
  map_topic: /direction_zones/map 
  base_frame_id: $(arg prefix)base_footprint
  lethal_cost_threshold: 100
  use_maximum: true
  # subscribe_to_updates: true
obstacles:
  observation_sources: b_scan_marking b_scan_clearing f_scan_marking f_scan_clearing
  b_scan_marking:
    topic: b_scan_rep117
    data_type: LaserScan
    clearing: false
    marking: true
    inf_is_valid: false
    min_obstacle_height: 0.13
    max_obstacle_height: 0.25
  b_scan_clearing:
    topic: b_scan_rep117
    data_type: LaserScan
    clearing: true
    marking: false
    inf_is_valid: false
    min_obstacle_height: 0.13
    max_obstacle_height: 0.25
  f_scan_marking:
    topic: f_scan_rep117
    data_type: LaserScan
    clearing: false
    marking: true
    inf_is_valid: false
    min_obstacle_height: 0.13
    max_obstacle_height: 0.25
  f_scan_clearing:
    topic: f_scan_rep117
    data_type: LaserScan
    clearing: true
    marking: false
    inf_is_valid: false
    min_obstacle_height: 0.13
    max_obstacle_height: 0.25
