controller_frequency: 5.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false

TrajectoryPlannerROS:
   max_vel_x: 0.5
   min_vel_x: 0.1
   max_vel_y: 0.0  # zero for a differential drive robot
   min_vel_y: 0.0
   max_vel_theta: 0.5 # 0.5
   min_vel_theta: -0.5 # -0.5
   min_in_place_vel_theta: 0.4 #原地旋转最小速度
   escape_vel: -0.1 # -0.1  #支持反转速度
   acc_lim_x: 0.2
   acc_lim_y: 0.2  # zero for a differential drive robot
   acc_lim_theta: 0.2 # 1.2

   holonomic_robot: false # false
   yaw_goal_tolerance: 0.01 # about 3 degrees
   xy_goal_tolerance: 0.02  # 5 cm
   latch_xy_goal_tolerance: false  #
   pdist_scale: 0.5
   gdist_scale: 0.5
   meter_scoring: true

   heading_lookahead: 0.03 #0.325
   heading_scoring: true # false
   heading_scoring_timestep: 0.8
   occdist_scale: 0.05
   oscillation_reset_dist: 0.05
   publish_cost_grid_pc: false
   prune_plan: true

   sim_time: 1.0 #路径规划考虑多少秒的移动轨迹
   sim_granularity: 0.05
   angular_sim_granularity: 0.1
   vx_samples: 8
   vy_samples: 8  # zero for a differential drive robot
   vtheta_samples: 20 # 20
   dwa: true
   simple_attractor: false


