planners:
  - name: GlobalPlanner
    type: global_planner/GlobalPlanner

controllers:
  - name: TebLocalPlannerROS
    type: teb_local_planner/TebLocalPlannerROS

planner_frequency: 0.5
planner_patience: 3.0
planner_max_retries: 1

controller_frequency: 5.0
controller_patience: 3.0
controller_max_retries: 1

recovery_enabled: true
recovery_patience: 30.0

oscillation_timeout: 10.0
oscillation_distance: 0.2

force_stop_at_goal: true
controller_lock_costmap: false