6 min_in_place_vel_theta: 0.4
7 max_rotational_vel: 1.0 # used by rotate recovery
13 holonomic_robot: false
16 xy_goal_tolerance: 0.20
17 yaw_goal_tolerance: 0.3
25 min_vel_x: 0.0 # no backward movement
34 xy_goal_tolerance: 0.1
35 yaw_goal_tolerance: 0.2