# Robot.
elevation_mapping:
  ros__parameters:
    map_frame_id: odom
    robot_base_frame_id: base
    robot_pose_with_covariance_topic: /pose
    input_sources:
      front: # A name to identify the input source
        type: pointcloud # Supported types: pointcloud
        topic: /rgbd_d435/points
        queue_size: 1
        publish_on_update: true
        sensor_processor:
          type: perfect
      lidar:
        type: pointcloud
        topic: /scan/points
        queue_size: 1
        publish_on_update: true
        sensor_processor:
          type: laser
          ignore_points_above: 0.5
          ignore_points_below: -0.5

    track_point_frame_id: base
    track_point_x: 0.0
    track_point_y: 0.0
    track_point_z: 0.0
    time_tolerance: 1e-3
    scanning_duration: 0.1
    visibility_cleanup_rate: 5

    # Map.
    length_in_x: 5.0
    length_in_y: 5.0
    position_x: 0.0
    position_y: 0.0
    resolution: 0.03
    min_variance: 0.0001
    max_variance: 0.05
    mahalanobis_distance_threshold: 2.5
    multi_height_noise: 0.001
    surface_normal_positive_axis: z
    initialize_elevation_map: true
    length_in_x_init_submap: 3.0
    length_in_y_init_submap: 3.0
    init_submap_variance: 1e-3
    target_frame_init_submap: odom