global_costmap:

global_frame: map

robot_base_frame: base_footprint

update_frequency: 1.0

publish_frequency: 1.0

map_type: costmap

local_costmap:

global_frame: odom

robot_base_frame: base_link

width: 5.0

height: 5.0

resolution: 0.01

map_type: costmap

obstacle_range: 2.5

raytrace_range: 3.0

footprint: [[0.416,0.318], [0.416, −0.318], [−0.416, −0.318], [−0.416, 0.318]]

footprint_inflation: 0.05

observation_sources: scan

scan: {data_type: LaserScan, topic: /scan, marking:true,clearing:true, expected_update_rate: 0}

TrajectoryPlannerROS:

max_vel_x: 0.45

min_vel_x: 0.1

max_vel_theta: 1.0

min_in_place_vel_theta: 0.4

acc_lim_theta: 3.2

acc_lim_x: 2.5

acc_lim_y: 2.5

holonomic_robot: true

escape_vel: −0.1

y_vels: [−0.3, −0.1, 0.1, −0.3]