TrajectoryPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.3 
  min_vel_x: 0.1                                                                    

  max_vel_theta:  1.0 
  min_vel_theta: -1.0
  min_in_place_vel_theta: 0.4 

  acc_lim_x: 2.5 
  acc_lim_y: 0.0
  acc_lim_theta: 3.2 

# Goal Tolerance Parameters
  xy_goal_tolerance: 0.15 
  yaw_goal_tolerance: 0.1 
  latch_xy_goal_tolerance: false 

# Forward Simulation Parameters
  sim_time: 3.0 
  vx_samples: 6 
  vtheta_samples: 20 
  sim_granularity: 0.05 
  
  # Trajectory Scoring Parameters
  meter_scoring: true
  pdist_scale: 0.6
  gdist_scale: 0.8
  occdist_scale: 0.01
  heading_lookahead: 0.325
 # dwa: true

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Differential-drive robot configuration
  holonomic_robot: false
  max_vel_y: 0.0
  min_vel_y: 0.0
  acc_lim_y: 0.0
  vy_samples: 1
  
  
