TrajectoryPlannerROS:
  max_vel_x: 1
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

-----

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.25,0.25], [-0.25,0.25], [-0.25,-0.25], [0.25, -0.25]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser

laser: {sensor_frame: base_laser_link, data_type: LaserScan, topic: laser, marking: true, clearing: true}

-------------
global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true
-----
local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: true
  rolling_window: false
  width: 6.0
  height: 6.0
  resolution: 0.05