max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.30
inflation_radius: 0.35

# voxel map configuration; z-voxels 0 are filled by bumpers and 1 by laser scan (kinect)
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false

observation_sources: scan bump

scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0, max_obstacle_height: 1.0}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}

max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot
obstacle_range: 8.0
raytrace_range: 8.0
robot_radius: 0.30
inflation_radius: 0.35

# voxel map configuration; z-voxels 0 are filled by bumpers and 1 by laser scan (kinect)
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false

observation_sources: scan

scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0, max_obstacle_height: 1.0}
#bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}

Fix parameters of the obstacle avoidance
Fix parameters of the obstacle avoidance
