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- # Example configuration:
- # - velocity limits are around a 10% above the physical limits
- # - acceleration limits are just low enough to avoid jerking
- # Mandatory parameters
- speed_lim_v: 0.1
- speed_lim_w: 0.3
- accel_lim_v: 0.05
- accel_lim_w: 0.1
- # Optional parameters
- frequency: 20.0
- decel_factor: 0.01
- # Robot velocity feedback type:
- # 0 - none
- # 1 - odometry
- # 2 - end robot commands
- robot_feedback: 2
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