ROS-Answers/Navigation/NavCon2

map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0

transform_tolerance: 0.6
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.19, 0.25], [-0.30 , 0.25], [-0.30 ,-0.25], [0.19, -0.25]]
#robot_radius: ir_of_robot
cost_scaling_factor: 10.0
#unknown as obstacle, when 0, as free.
unknown_cost_value: 255

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, expected_update_rate: 0.0,
  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}