+
+ xy_goal_tolerance: 0.20
+ yaw_goal_tolerance: 0.3
+
+DWAPlannerROS:
+ acc_lim_x: 10.07
+ acc_lim_y: 0.0
+ acc_lim_th: 12.00
+
+ max_vel_x: 0.5
+ min_vel_x: 0.0 # no backward movement
+ max_vel_y: 0.0
+ min_vel_y: 0.0
+
+ max_trans_vel: 0.5
+ min_trans_vel: 0.2
+ max_rot_vel: 0.5
+ min_rot_vel: 0.4
+
+ xy_goal_tolerance: 0.20
+ yaw_goal_tolerance: 0.3