obstacle_range: 3.0
raytrace_range: 5.0
robot_radius: 0.25
inflation_radius: 0.35
cost_scaling_factor: 10.0
observation_sources: scan_filtered
scan_filtered: {
    sensor_frame: base_footprint, 
    observation_persistence: 0.0, 
    max_obstacle_height: 0.4, 
    min_obstacle_height: 0.0, 
    data_type: LaserScan,
    topic: /scan_filtered, 
    marking: true, 
    clearing: true
    }