footprint: [[0.35, -0.3], [0.35, 0.3], [-0.35,0.3], [-0.35, -0.3]]

publish_frequency: 1.0

inflation_layer:
  inflation_radius: 0.3

obstacle_laser_layer:
  obstacle_range: 2.5
  raytrace_range: 5.5
  observation_sources: front_laser rear_laser
  front_laser: 
    sensor_frame: robot_front_laser_link
    data_type: LaserScan
    topic: front_laser/scan
    marking: true
    clearing: true
  rear_laser: 
    sensor_frame: robot_rear_laser_link
    data_type: LaserScan
    topic: rear_laser/scan
    marking: true
    clearing: true

obstacle_camera_layer:
  obstacle_range: 2.5
  raytrace_range: 5.5
  observation_sources: front_rgbd_to_scan
  front_rgbd_to_scan:
    data_type: LaserScan
    topic: front_rgbd_camera/point_cloud_scan_filtered
    marking: true
    clearing: true

footprint: [[0.375, -0.34], [0.375, 0.34], [-0.375,0.34], [-0.375, -0.34]]

publish_frequency: 1.0

inflation_layer:
  inflation_radius: 0.3

obstacle_laser_layer:
  obstacle_range: 2.5
  raytrace_range: 5.5
  observation_sources: front_laser rear_laser
  front_laser: 
    sensor_frame: robot_front_laser_link
    data_type: LaserScan
    topic: front_laser/scan
    marking: true
    clearing: true
  rear_laser: 
    sensor_frame: robot_rear_laser_link
    data_type: LaserScan
    topic: rear_laser/scan
    marking: true
    clearing: true

obstacle_camera_layer:
  obstacle_range: 2.5
  raytrace_range: 5.5
  observation_sources: front_rgbd_to_scan
  front_rgbd_to_scan:
    data_type: LaserScan
    topic: front_rgbd_camera/point_cloud_scan_filtered
    marking: true
    clearing: true

Modify robot footprint to fit new robot model
navigation: Modify robot footprint to fit new robot model
