obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-15, -12], [15, -12], [15, 12], [-15, 12]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_kinect

laser_scan_kinect: {sensor_frame: kinect_frame, data_type: LaserScan, topic: /LaserScan, marking: true, clearing: true}

point_cloud_kinect: {sensor_frame: kinect_frame, data_type: PointCloud, topic: /PointCloud, marking: true, clearing: true}