6 min_in_place_vel_theta: 0.4
7 max_rotational_vel: 1.0 # used by rotate recovery
13 holonomic_robot: false
14 # gdist_scale and pdist_scale parameters should assume meters
17 xy_goal_tolerance: 0.20
18 yaw_goal_tolerance: 0.3
20 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
23 # Whether to score based on the robot's heading to the path or its distance from the path, default: false
26 # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1
27 heading_scoring_timestep: 0.3
35 min_vel_x: 0.0 # no backward movement
44 xy_goal_tolerance: 0.1
45 yaw_goal_tolerance: 0.2
47 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
49 # The weighting for how much the controller should stay close to the path it was given, default: 32.0
50 path_distance_bias: 64.0