controller_frequency: 3.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false

TrajectoryPlannerROS:
   max_vel_x: 1.0
   min_vel_x: -3.0
   max_vel_y: 0.0  # zero for a differential drive robot
   min_vel_y: 0.0

   max_vel_theta: 0.5
   min_vel_theta: -0.5
   min_in_place_vel_theta: 0.05 # 0.01
   escape_vel: -0.2
   acc_lim_x: 0.5
   acc_lim_y: 0.0  # zero for a differential drive robot
   acc_lim_theta: 2.0

   holonomic_robot: false
   yaw_goal_tolerance: 0.03 # about 0.6 degrees
   xy_goal_tolerance: 0.05  # 5 cm
   latch_xy_goal_tolerance: false
   pdist_scale: 0.8
   gdist_scale: 0.2
   meter_scoring: true

   heading_lookahead: 0.325 #0.325
   heading_scoring: true
   heading_scoring_timestep: 2.8
   occdist_scale: 0.02
   oscillation_reset_dist: 0.05
   publish_cost_grid_pc: false
   prune_plan: true

   sim_time: 2.0
   sim_granularity: 0.1
   angular_sim_granularity: 0.1
   vx_samples: 8 # 8
   vy_samples: 0  # zero for a differential drive robot
   vtheta_samples: 10
   dwa: false
   simple_attractor: false