laser_max_range: 12 # default was at 100 today which might have confused AMCL
laser_min_range: 0.02 # default negative value which did not make sense
max_beams: 60 # this was too high at 406 today so our mapping was struggling to update

do_beamskip: true # if we have glass / dynamic obstacles

alpha1: 0.05 # DECREASE ALL ALPHA VALUES TO TRUST ODOM MORE
alpha2: 0.05 # DECREASE ALL ALPHA VALUES TO TRUST ODOM MORE
alpha3: 0.05 # DECREASE ALL ALPHA VALUES TO TRUST ODOM MORE
alpha4: 0.05 # DECREASE ALL ALPHA VALUES TO TRUST ODOM MORE
alpha5: 0.05 # DECREASE ALL ALPHA VALUES TO TRUST ODOM MORE

update_min_a: 0.1 # increase updating of scan matching
update_min_d: 0.1 # increase updating of scan matching

local_costmap resolution: 0.15 # make it same as our mapped res
global_costmap resolution: 0.15 # make it same as our mapped res

WE WILL CONFIG THESE ALL IN ONE GO AND HOPEFULLY IT DOESNT FUCKING BREAK LIKE WHAT 
HAPPENED EARLIER