obstacle_range: 100
raytrace_range: 100
footprint: [[0.2, 0.3], [0.2, -0.3], [-0.2, -0.3], [-0.2, 0.3]]
#robot_radius: ir_of_robot
inflation_radius: 0.5

observation_sources: laser_scan_kinect

laser_scan_kinect: {sensor_frame: qt_pi/laser, data_type: LaserScan, topic: /qt_pi/scan, marking: true, clearing: true}