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  1. TrajectoryPlannerROS:
  2. max_vel_x: 1
  3. min_vel_x: -1
  4. y_vels: [-1.0,-0.1,0.1,1]
  5. max_vel_theta: 1.0
  6. min_in_place_vel_theta: 0.5
  7.  
  8. acc_lim_theta: 2.5
  9. acc_lim_x: 2.5
  10. acc_lim_y: 2.5
  11.  
  12. holonomic_robot: true
  13.  
  14. meter_scoring: true
  15.  
  16. xy_goal_tolerance: 0.10
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