transform_tolerance: 0.01 min_height: 0.0 max_height: 1.0 angle_min: -1.5708 # -M_PI/2 angle_max: 1.5708 # M_PI/2 angle_increment: 0.0087 # M_PI/360.0 scan_time: 0.3333 range_min: 0.7 range_max: 6.0 use_inf: true concurrency_level: 1