map_frame: "map" tracking_frame: "base_link" configuration_files_directories: [ "$(find google_cartographer)/configuration_files" ] mapping_configuration_basename: "turtlebot.lua" imu_topic: "/imu" laser_scan_2d_topic: "/horizontal_2d_laser" laser_min_range_m: 0. laser_max_range_m: 30. laser_missing_echo_ray_length_m: 5.