shutdown_costmaps: false
planner_frequency: 1.0
controller_frequency: 5.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 10.0 #3.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
# base_local_planner: base_local_planner/TrajectoryPlannerROS # dwa_local_planner/DWAPlannerROS # TebLocalPlannerROS
recovery_behaviors:
  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}