# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

sensors:
  - default_sensor
  - kinect_depthimage
default_sensor:
  filtered_cloud_topic: filtered_cloud
  max_range: 5.0
  max_update_rate: 1.0
  padding_offset: 0.1
  padding_scale: 1.0
  point_cloud_topic: /camera/camera/depth/color/points
  point_subsample: 1
  sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
kinect_depthimage:
  far_clipping_plane_distance: 5.0
  filtered_cloud_topic: filtered_cloud
  image_topic: /head_mount_kinect/depth_registered/image_raw
  max_update_rate: 1.0
  near_clipping_plane_distance: 0.3
  padding_offset: 0.03
  padding_scale: 4.0
  queue_size: 5
  sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
  shadow_threshold: 0.2