# voxel map
voxel_map:
  # min coordinates in world frame
  xyz_min: [0.0, 0.0, 0.0]  # [m]

  # max coordinates in world frame
  xyz_max: [50.0, 50.0, 10.0]  # [m]

  # resolution
  resolution: [0.2, 0.2, 0.2]  # [m]

  # initial value of voxels
  init_value: 0.0

  # raytrace ranges
  min_range: 0.0
  max_range: 10.0

  # absolute position pointcloud cropping
  min_z_abs: 0.0  # [m]
  max_z_abs: 10.0  # [m]

  # relative position pointcloud cropping
  use_rel_cropping: false
  min_z_rel: -0.5  # [m]
  max_z_rel: 0.5  # [m]

  # publishing
  publish_map: true

# pixel map
pixel_map:
  # publishing
  publish_map: false

# voxel map
voxel_map:
  # min coordinates in world frame
  xyz_min: [0.0, 0.0, 0.0]  # [m]

  # max coordinates in world frame
  xyz_max: [50.0, 50.0, 10.0]  # [m]

  # resolution
  resolution: [0.2, 0.2, 0.2]  # [m]

  # initial value of voxels
  init_value: 0.0

  # raytrace ranges
  min_range: 0.0  # [m]
  max_range: 10.0  # [m]

  # absolute position pointcloud cropping
  min_z_abs: 0.0  # [m]
  max_z_abs: 10.0  # [m]

  # relative position pointcloud cropping
  use_rel_cropping: false
  min_z_rel: -0.5  # [m]
  max_z_rel: 0.5  # [m]

  # publishing
  publish_map: true

# pixel map
pixel_map:
  # publishing
  publish_map: false

Add units to range params.
Add units to range params.
