# 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
+ # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
+ oscillation_reset_dist: 0.1
+
DWAPlannerROS:
acc_lim_x: 10.07
acc_lim_y: 0.0