TrajectoryPlannerROS: min_vel_x: 0.2 max_vel_x: 0.3 min_vel_theta: -0.4 max_vel_theta: 0.4 min_in_place_vel_theta: 0.4 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 0.3 holonomic_robot: false meter_scoring: true sim_granularity: 0.01