perception_hz                                   8.0
perception_sync_to_velodyne                     on
perception_use_shm                              on

perception_map_resolution                       0.15
perception_map_size_x                           160.0
perception_map_size_y                           160.0
perception_terrain_resolution                   1.0

perception_max_sensor_delay             	0.4
perception_no_timeout                           off

perception_ray_tracing                          on
perception_ray_trace_all                        on
perception_gls_output                           off
perception_show_velodyne_scan                   off
perception_show_ray_tracing                     off

perception_use_ldlrs1                           on
perception_use_ldlrs2                           on

perception_ldlrs_min_distance                   0.2
perception_ldlrs_max_distance                   20.0
        
perception_use_ibeo1                            off
perception_use_ibeo2                            off
perception_use_ibeo_beam1			off
perception_use_ibeo_beam2			off
perception_use_ibeo_beam3			off
perception_use_ibeo_beam4			off

perception_ibeo_min_angle                       -45.0
perception_ibeo_max_angle                       45.0
perception_ibeo_min_distance                    0.2
perception_ibeo_max_distance                    80.0

perception_use_velodyne                         on
perception_velodyne_lower_block                 on
perception_velodyne_upper_block                 on
perception_lower_velodyne_threshold             9.0
perception_upper_velodyne_threshold_factor      0.0023
perception_velodyne_scan_resolution             0.5

perception_stop_zone_dist_before_line           1.50
perception_stop_zone_dist_behind_line           7.00
perception_stop_zone_width                      2.50
perception_stop_zone_detect_distance            70.0

perception_do_tracking				off
lasertrack_useGls                       	off
lasertrack_showScans 				off
lasertrack_showAngleGrid 			on
lasertrack_displayAllCars 			off
lasertrack_displayInter 			on
lasertrack_showObstacles 			on
lasertrack_showRndfMask 			off
lasertrack_useCombined				on
lasertrack_displayVelodyne              	on