TrajectoryPlannerROS: min_vel_x: 0.1 max_vel_x: 0.3 min_vel_theta: -1.0 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 holonomic_robot: false meter_scoring: true