rate: 10 max_z: 1.6 # How far out do we want to detect min_z: 0.2 goal_z: 0.7 z_threshold: 0.05 x_threshold: 0.05 z_scale: 1.0 # forward/back scale x_scale: 2.0 # left/right scale max_rotation_speed: 1.0 min_rotation_speed: 0.1 max_linear_speed: 0.15 min_linear_speed: 0.02 scale_roi: 0.9