+ xy_goal_tolerance: 0.15
+ yaw_goal_tolerance: 0.1
+
+ # 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
+
+PoseFollower:
+ holonomic: false
+ max_vel_lin: 0.5
+ max_vel_th: 1.0
+ min_vel_lin: 0.0
+ min_vel_th: 0.0
+ tolerance_trans: 0.15
+ tolerance_rot: 0.1
+ tolerance_timeout: 0.1
+ trans_stopped_velocity: 0.001
+ rot_stopped_velocity: 0.001
+ allow_backwards: false
+ # If true, turn in place to face the new goal instead of arching towards it
+ turn_in_place_first: false
+ # If turn_in_place_first is true, turn in place if our heading is more than this far from facing the goal location
+ max_heading_diff_before_moving: 0.175
+ # Gain factor for translation component of output velocities 0..20
+ k_trans: 1.0
+ # Gain factor for rotation component of output velocities: 0..20
+ k_rot: 2.0
+ collision_planner: # =TrajectoryPlannerROS
+ holonomic_robot: false
+ meter_scoring: true
+ xy_goal_tolerance: 0.15
+ yaw_goal_tolerance: 0.1
+ heading_scoring: false
+ heading_scoring_timestep: 0.3
+ oscillation_reset_dist: 0.1
+ sim_granularity: 0.05
+ angular_sim_granularity: 0.05