ROS-Answers/Navigation/NavCon1

TrajectoryPlannerROS:
  #Independent settings for the local costmap
  transform_tolerance: 0.6
  sim_time: 5.0
  sim_granularity: 0.025
  dwa: true
  vx_samples: 3
  vtheta_samples: 20
  max_vel_x: 0.15
  min_vel_x: 0.00
  max_rotational_vel: 0.4
  min_in_place_rotational_vel: 0.6
  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.15
  goal_distance_bias: 0.8
  path_distance_bias: 0.6
  occdist_scale: 0.001
  heading_lookahead: 0.6
  oscillation_reset_dist: 0.05
  holonomic_robot: true
  acc_lim_th: 1.2
  acc_lim_x: 0.5
  acc_lim_y: 0.5