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: 0.15
18 yaw_goal_tolerance: 0.1
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
24 heading_scoring: 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
29 # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
30 oscillation_reset_dist: 0.1
38 min_vel_x: 0.0 # no backward movement
47 xy_goal_tolerance: 0.1
48 yaw_goal_tolerance: 0.2
50 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
52 # The weighting for how much the controller should stay close to the path it was given, default: 32.0
53 path_distance_bias: 64.0