dwb_local_planner:
  ros__parameters:
    max_vel_x: 5.5
    min_vel_x: 0.0
    max_vel_y: 0.0
    min_vel_y: 0.0
    max_vel_theta: 3.0
    min_vel_theta: -3.0
    acc_lim_x: 2.5
    acc_lim_y: 0.0
    acc_lim_theta: 2.5
    decel_lim_x: -2.5
    decel_lim_y: 0.0
    decel_lim_theta: -2.5
    vx_samples: 20
    vy_samples: 1
    vtheta_samples: 40
    sim_time: 1.7
    sim_granularity: 0.05
    angular_sim_granularity: 0.1
    path_distance_bias: 32.0
    goal_distance_bias: 24.0
    occdist_scale: 0.02
    forward_point_distance: 0.325
    use_dwa: true
    dwa_padding_inaccuracies: 0.1
    max_allowed_time_female: 0.0
    oscillation_max_iterations: 1800
    oscillation_max_distance: 0.02
    use_velocity_scaled_lookahead_dist: false
    min_approach_linear_velocity: 0.1
    approach_velocity_scaling_dist: 1.0
    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
    rotate_to_goal:
      slowing_factor: 5.0
      lookahead_time: -1.0
    base_obstacle:
      scale: 0.02
      max_scaling_factor: 0.02
      forward_point_distance: 0.325
    goal_align:
      scale: 24.0
      forward_point_distance: 0.325
    path_align:
      scale: 32.0
      forward_point_distance: 0.325
      max_allowed_time_female: 0.0
    path_dist:
      scale: 32.0
      max_allowed_time_female: 0.0
    goal_dist:
      scale: 24.0
      max_allowed_time_female: 0.0
    prune_plan: true
    prune_distance: 1.5
    debug_trajectory_details: false
    publish_evaluation: true
    publish_scored_sampling_policies: false
    publish_trajectories: false
