TrajectoryPlannerROS: min_vel_x: 0.2 max_vel_x: 0.5 min_vel_theta: -1.0 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 max_rotational_vel: 1.0 # used by rotate recovery acc_lim_x: 10.07 acc_lim_y: 0.0 acc_lim_theta: 6.00 holonomic_robot: false # gdist_scale and pdist_scale parameters should assume meters meter_scoring: true xy_goal_tolerance: 0.20 yaw_goal_tolerance: 0.3 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01 occdist_scale: 0.02 # Whether to score based on the robot's heading to the path or its distance from the path, default: false heading_scoring: true # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1 heading_scoring_timestep: 0.3 DWAPlannerROS: acc_lim_x: 10.07 acc_lim_y: 0.0 acc_lim_th: 6.00 max_vel_x: 0.5 min_vel_x: 0.0 # no backward movement max_vel_y: 0.0 min_vel_y: 0.0 max_trans_vel: 0.5 min_trans_vel: 0.2 max_rot_vel: 1.0 min_rot_vel: 0.4 xy_goal_tolerance: 0.1 yaw_goal_tolerance: 0.2 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01 occdist_scale: 0.02 # The weighting for how much the controller should stay close to the path it was given, default: 32.0 path_distance_bias: 64.0