# obstacle_range & raytrace_range - precise explanation?

Hey folks,

could somebody please explain how exactly `obstacle_range`

and `raytrace_range`

work? Assuming I have an IR sensor which publishes a point cloud with one point. That IR sensor can measure obstacles from 40 to 800mm. If it doesn't measure anything (there's nothing within its range) its values will exceed this range and heavily jump around (never accidentily jumping into its valid range however) and can be considered infinite/free.

How would I have to correctly configure the mentioned parameters? From the documentation I don't really understand what the parameters do. A precise explanation would be greatly appreciated.

Thanks.