obstacle_range: 1.0
raytrace_range: 2.0
footprint: [[12.5,19.5], [-18.5, 19.5],[-18.5,-19.5],[-12.5, -19.5]]
inflation_radius: 0.1

transform_tolerance: 2
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}