+
+ 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
+
+DWAPlannerROS:
+ acc_lim_x: 10.07
+ acc_lim_y: 0.0
+ acc_lim_th: 12.00
+
+ 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