filter_field_name: z filter_limit_min: 0.3 filter_limit_max: 1.6 filter_limit_negative: False leaf_size: 0.02 filter_field_name: x filter_limit_min: -0.3 filter_limit_max: 0.3 filter_limit_negative: False filter_field_name: y filter_limit_min: -0.5 filter_limit_max: -0.1 filter_limit_negative: False goal_z: 0.8 z_threshold: 0.025 x_threshold: 0.025 z_scale: 1.0 x_scale: 3.0 max_angular_speed: 5.0 min_angular_speed: 0.1 max_linear_speed: 0.4 min_linear_speed: 0.05