base_local_planner: dwa_local_planner/DWAPlannerROS

DWAPlannerROS:
  # Robot Configuration Parameters
  holonomic_robot: false
  acc_lim_x: 0.8
  acc_lim_theta: 0.2
  max_vel_x: 1.0
  min_vel_x: -0.1
  max_vel_trans: 1.0
  min_vel_trans: -0.1
  max_rot_vel: 0.4 #0.1 #0.8
  min_rot_vel: -0.4 #-0.1 #-0.8
  
  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance: 0.1
  
  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.03
  vx_samples: 3
  vth_samples: 16
  
  # Trajectory Scoring Parameters
  path_distance_bias: 36
  goal_distance_bias: 24
  occdist_scale : 0.01
  forward_point_destance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2
