obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.15, -0.15], [-0.15, 0.15], [0.05, 0.15], [0.05, -0.15]]

inflation_radius: 1.0
cost_scaling_factor: 3.0

map_type: costmap
observation_sources: scan
scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}