TrajectoryPlannerROS:

  # Current limits based on AZ3 standalone configuration.
  acc_lim_x:  0.75
  acc_lim_y:  0.75
  acc_lim_theta: 4
  # min_vel_x and max_rotational_vel were set to keep the ICR at
  # minimal distance of 0.48 m. 
  # Basically, max_rotational_vel * rho_min <= min_vel_x
  max_vel_x:  0.5
  min_vel_x:  0.24
  max_vel_theta: 0.5
  min_vel_theta: -0.5
  min_in_place_vel_theta: 0.25
  holonomic_robot: true

  xy_goal_tolerance:  0.25
  yaw_goal_tolerance: 0.25
  latch_xy_goal_tolerance: true
  
  # make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
  sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
  sim_granularity: 0.025
  angular_sim_granularity: 0.05
  vx_samples: 12
  vtheta_samples: 20

  meter_scoring: true

  pdist_scale: 0.7 # The higher will follow more the global path.
  gdist_scale: 0.8
  occdist_scale: 0.01
  publish_cost_grid_pc: false

#move_base
controller_frequency: 10.0 #The robot can move faster when higher.

#global planner 
NavfnROS:
    allow_unknown: true
    visualize_potential: false