max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

map_type: voxel

obstacle_layer:
  enabled: true
  origin_z: 0.0
  z_resolution: 0.05
  z_voxels: 10
  unknown_threshold: 0
  #mark_threshold: 2
  publish_voxel_map: true
  combination_method: 1
  observation_sources: points
  points:
    data_type: PointCloud2
    topic: /gibson_ros/lidar/points
    marking: true
    clearing: true
    obstacle_range: 1.90
    raytrace_range: 2.00
    min_obstacle_height: 0.15
    max_obstacle_height: 0.6
    mark_threshold: 3
    observation_persistence: 2.0

  # for debugging only, let's you see the entire voxel grid

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.4  # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
  enabled:              true

