TebLocalPlannerROS:

 odom_topic: /odom
 map_frame: /map # This parameter will be overridden by local_costmap/global_frame

# Trajectory

 teb_autosize: True
 dt_ref: 0.6
 dt_hysteresis: 0.1
 global_plan_overwrite_orientation: True
 max_global_plan_lookahead_dist: 5.0
 feasibility_check_no_poses: 2

 # Robot

 max_vel_x: 1.0
 max_vel_x_backwards: 1.0
 max_vel_theta: 1.0
 acc_lim_x: 0.2
 acc_lim_theta: 1.0
 min_turning_radius: 3.85
 wheelbase: 1.811
 footprint_model/type: line
 footprint_model/line_start: [-0.2, 0.0]
 footprint_model/line_end: [2.0, 0.0]

 # GoalTolerance

 xy_goal_tolerance: 0.2
 yaw_goal_tolerance: 0.1
 free_goal_vel: False

 # Obstacles

 min_obstacle_dist: 0.1
 include_costmap_obstacles: True
 costmap_obstacles_behind_robot_dist: 1.0
 obstacle_poses_affected: 5

 # Optimization

 no_inner_iterations: 3
 no_outer_iterations: 2
 optimization_activate: True
 optimization_verbose: False
 penalty_epsilon: 0.09
 weight_max_vel_x: 2
 weight_max_vel_theta: 1
 weight_acc_lim_x: 0.01
 weight_acc_lim_theta: 0.01
 weight_kinematics_nh: 1000
 weight_kinematics_forward_drive: 1
 weight_kinematics_turning_radius: 1
 weight_optimaltime: 1.0
 weight_obstacle: 50
 weight_dynamic_obstacle: 10 # not in use yet
 alternative_time_cost: False # not in use yet

 # Homotopy Class Planner

 enable_homotopy_class_planning: False
 enable_multithreading: True
 simple_exploration: False
 max_number_classes: 4
 roadmap_graph_no_samples: 15
 roadmap_graph_area_width: 5
 h_signature_prescaler: 0.5
 h_signature_threshold: 0.1
 obstacle_keypoint_offset: 0.1
 obstacle_heading_threshold: 0.45
 visualize_hc_graph: True