DWAPlannerROS:

  # Robot Configuration Parameters
  max_vel_x: 2.0
  min_vel_x: -2.0

  max_vel_y: 2.0
  min_vel_y: -2.0

  # The velocity when robot is moving in a straight line
  max_vel_trans:  1.0
  min_vel_trans:  -1.0 # -2.0

  max_vel_theta: 1.0
  min_vel_theta: -1.0 # -1.0

  # max_rot_vel: 1.0
  # min_rot_vel: -1.0

  acc_lim_x: 3.0 # 1.0
  acc_lim_y: 3.0  # 1.0
  acc_lim_theta: 3.0
  acc_lim_trans: 3.0 # 0.5

  # # Goal Tolerance Parameters
  xy_goal_tolerance: 0.20
  yaw_goal_tolerance: 0.17
  latch_xy_goal_tolerance: false

  # # Forward Simulation Parameters
  # sim_time: 2.0
  # sim_granularity: 0.5
  # vx_samples: 20
  # vy_samples: 0
  # vth_samples: 20
  # controller_frequency: 10.0

  # # Trajectory Scoring Parameters
  # path_distance_bias: 64.0
  # goal_distance_bias: 80.0
  # occdist_scale: 0.02
  # forward_point_distance: 0.325
  # stop_time_buffer: 0.2
  # scaling_speed: 0.25
  # max_scaling_factor: 0.2

  # # Oscillation Prevention Parameters
  # oscillation_reset_dist: 0.05

  # # Debugging
  # publish_traj_pc : true
  # publish_cost_grid_pc: true

  # prune_plan: true