My base_local_planner params

TrajectoryPlannerROS:
    publich_cost_grid_pc: true
    global_frame_id: odom

    # Robot Configuration Parameters
    acc_lim_x: 4.5
    acc_lim_y: 1.5
    acc_lim_th: 2.0
    max_vel_x: 10.0
    min_vel_x: 0.5
    max_rotational_vel: 1.57
    min_in_place_rotational_vel: 0.80
    escape_vel: -0.2
    holonomic_robot: false

    # Goal Tolerance Parameters
    xy_goal_tolerance: 0.5
    yaw_goal_tolerance: 0.08
    latch_xy_goal_tolerance: true

    # Forward Simulation Parameters
    sim_time: 1.7
    sim_granularity: 0.025
    vx_samples: 15
    vtheta_samples: 20

    # Trajectory Scoring Parameters
    meter_scoring: true
    heading_scoring: false
    heading_scoring_timestep: 5.0
    goal_distance_bias: 0.6
    path_distance_bias: 0.5
    occdist_scale: .01
    heading_lookahead: 0.425
    dwa: true

    # Oscillation Prevention Parameters
    oscillation_reset_dist: 0.05