shutdown_costmaps: false 
controller_frequency: 20.0
planner_patience: 5.0 
controller_patience: 15.0 
conservative_reset_dist: 3.0 
recovery_behavior_enabled: true 
clearing_rotation_allowed: true 
planner_frequency: 5.0 
oscillation_timeout: 10.0
oscillation_distance: 0.2