# Pure Pursuit Path Follower Configuration
pure_pursuit:
  ros__parameters:
    # Path following parameters
    lookahead_distance: 0.5      # Distance to look ahead on the path (meters)
    goal_tolerance: 0.1          # Distance tolerance to goal (meters)
    heading_tolerance: 0.1       # Heading tolerance in radians (rad)

    # Speed parameters
    max_linear_velocity: 1.0     # Maximum linear velocity (m/s)
    max_angular_velocity: 1.57   # Maximum angular velocity (rad/s)

    # Control parameters
    linear_velocity_scale: 1.0   # Scale factor for linear velocity
    angular_velocity_scale: 1.0  # Scale factor for angular velocity
    use_heading_correction: true # Apply heading error correction

    # Publishing frequency (Hz)
    publish_frequency: 10

    # Enable/disable path follower
    enable_path_following: true