base_local_planner: base_local_planner/TrajectoryPlannerROS

TrajectoryPlannerROS:
  # Robot Configuration Parameters
  holonomic_robot: false
  acc_lim_x: 3.5
  acc_lim_theta: 1.0  #1.5
  max_vel_x: 2.0
  min_vel_x: 0.1
  max_vel_theta: 0.3
  min_vel_theta: -0.3 #-0.4
  min_in_place_vel_theta: 0.3  #0.2
  escape_vel: -0.2
  
  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.5
  xy_goal_tolerance: 0.4
  
  # Forward Simulation Parameters
  sim_time: 3
  sim_granularity: 0.05
  vx_samples: 7
  vtheta_samples: 30
  
  # Trajectory Scoring Parameters
  dwa: true
  meter_scoring: true
  path_distance_bias: 0.4  #0.7
  goal_distance_bias: 1.0  #0.8
  occdist_scale : 0.05     #0.01
  heading_lookahead: 0.325
  heading_scoring: true
  heading_scoring_timestep: 1.2