controller_frequency: 3.0 #20.0 #5.0
recovery_behavior_enabled: true #false
clearing_rotation_allowed: true #false

DWAPlannerROS:
   max_vel_trans: 1.0
   min_vel_trans: 0.1 #0.2
   max_vel_x: 1.0
   min_vel_x: 0.1 #0.2
   max_vel_y: 0.0  # zero for a differential drive robot
   min_vel_y: 0.0
   min_in_place_vel_theta: 0.1 #0.5
   escape_vel: -0.1
   acc_lim_x: 0.5
   acc_lim_y: 0.0 # zero for a differential drive robot
   acc_lim_theta: 1.0

   holonomic_robot: false
   yaw_goal_tolerance: 0.1 # about 6 degrees
   xy_goal_tolerance: 0.15  # 10 cm
   latch_xy_goal_tolerance: false
   pdist_scale: 0.8
   gdist_scale: 0.6
   #meter_scoring: true

   heading_lookahead: 1.5 #0.325
   heading_scoring: true #false
   heading_scoring_timestep: 0.8
   #occdist_scale: 0.1
   oscillation_reset_dist: 0.05
   publish_cost_grid_pc: false
   prune_plan: true

   # Forward Simulation Parameters
   sim_time: 5.0 #1.0 #5.0 #2.5
   sim_granularity: 0.025
   angular_sim_granularity: 0.025
   vx_samples: 20 #8
   vy_samples: 1 #0 # zero for a differential drive robot
   vtheta_samples: 20
   dwa: true
   simple_attractor: false

   # # Trajectory Scoring Parameters
   path_distance_bias: 64.0      # 32.0   - weighting for how much it should stick to the global path plan
   goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
   occdist_scale: 50.0 #2.0 #0.5            # 0.01   - weighting for how much the controller should avoid obstacles
   forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
   stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
   scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint
   max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.