DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.5 
  min_vel_x: 0.0 

  max_vel_y: 0.0 
  min_vel_y: 0.0

# The velocity when robot is moving in a straight line
  max_vel_trans: 0.5                    
  min_vel_trans:  0.11
  trans_stopped_vel: 0.1

  max_vel_theta: 2.75 
  min_vel_theta: 1.37

  acc_lim_x: 2.5 
  acc_lim_y: 0.0
  acc_lim_theta: 3.2 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.15 
  yaw_goal_tolerance: 0.3 
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.5 
  vx_samples: 6 
  vy_samples: 1 
  vth_samples: 20 
  controller_frequency: 10.0 

# Trajectory Scoring Parameters
  path_distance_bias: 64.0  
  goal_distance_bias: 24    
  occdist_scale: 0.5      
  forward_point_distance: 0.325 
  stop_time_buffer: 0.2  
  scaling_speed: 0.25   
  max_scaling_factor: 0.2 

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 
  
# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
   
  
