robot_base_frame: base_link
transform_tolerance: 1.0
obstacle_range: 3.0
#mark_threshold: 1
publish_voxel_map: true
footprint_padding: 0.0

navigation_map:
  map_topic: /map
  map_pkg: managerments
  map_file: maze

virtual_walls_map:
  map_topic: /map
  namespace: /virtual_walls
  map_pkg: managerments
  map_file: maze
  use_maximum: true
  lethal_cost_threshold: 100

obstacles:
  observation_sources: b_scan_marking b_scan_clearing pc_marking pc_clearing
  # f_scan_marking: f_scan_marking f_scan_clearing
  #   topic: /f_scan
  #   data_type: LaserScan
  #   clearing: false
  #   marking: true
  #   inf_is_valid: true
  #   min_obstacle_height: 0.0
  #   max_obstacle_height: 0.25
  # f_scan_clearing:
  #   topic: /f_scan
  #   data_type: LaserScan
  #   clearing: true
  #   marking: false
  #   inf_is_valid: true
  #   min_obstacle_height: 0.0
  #   max_obstacle_height: 0.25
  b_scan_marking:
    topic: /b_scan
    data_type: LaserScan
    clearing: false
    marking: true
    inf_is_valid: true
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25
  b_scan_clearing:
    topic: /b_scan
    data_type: LaserScan
    clearing: true
    marking: false
    inf_is_valid: true
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25

  pc_marking:
    topic: /camera/depth/points_proc
    data_type: PointCloud2
    clearing: false
    marking: true
    inf_is_valid: 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/points_clear
    data_type: PointCloud2
    clearing: true
    marking: false
    inf_is_valid: false
    observation_persistence: 0.0
    expected_update_rate: 0.5
    obstacle_range: 2.5
    raytrace_range: 3.0
    min_obstacle_height: -0.5
    max_obstacle_height: 5.0