map_frame: "map" tracking_frame: "base_link" configuration_files_directories: [ "$(find google_cartographer)/configuration_files" ] mapping_configuration_basename: "3d_mapping.lua" imu_topic: "/imu" laser_scan_3d_topics: ["/horizontal_3d_laser", "/vertical_3d_laser"] laser_min_range_m: 0. laser_max_range_m: 30. laser_missing_echo_ray_length_m: 5.