local_planner

TrajectoryPlannerROS:
  max_vel_x: 0.7
  min_vel_x: 0.01
  max_rotational_vel: 0.4
  min_in_place_rotational_vel: 2.0
  acc_lim_th: 0.5
  acc_lim_x: 5.5
  acc_lim_y: 0.0
  escape_vel: -0.3
  holonomic_robot: false
  dwa: true
  vx_samples: 10
  sim_granularity: 0.025
  meter_scoring: true
  publish_cost_grid_pc: true
  sim_time: 5.0
  controller_frequency: 10
  yaw_goal_tolerance: 0.2
  xy_goal_tolerance: 0.05
  latch_xy_goal_tolerance: true