transform_tolerance: 0.01 min_height: 0.2 max_height: 0.5 angle_min: -3.14 angle_max: 3.14 angle_increment: 0.01256 scan_time: 0.1 range_min: 0.2 range_max: 60.0 use_inf: true #concurrency_level affects number of pc queued for processing and the number of threadsused # 0: Detect number of cores # 1: Single threaded # 2: inf : Parallelism level concurrency_level: 1