obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
#robot_radius: 0.17

inflation_radius: 0.1
cost_scaling_factor: 9.0

map_type: costmap
observation_sources: point_cloud_sensor
point_cloud_sensor: {sensor_frame: /camera_link, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}

transform_tolerance: 0.5