gistfile1.txt

  <!-- include fetch_navigation -->
  <include file="$(find fetch_navigation)/launch/fetch_nav.launch" >
    <arg name="map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05.yaml" />
    <arg name="map_keepout_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05_keepout.yaml" />
    <arg name="use_keepout" default="true" />
  </include>
  <rosparam ns="move_base/global_costmap">
inflater:
  inflation_radius: 0.80 # 0.7
  cost_scaling_factor: 10.0 # 10.0
  </rosparam>
  <rosparam ns="move_base/local_costmap">
inflater:
  inflation_radius: 0.30 # 0.7
  cost_scaling_factor: 100.0 # 25.0 default 10, increasing factor decrease the cost value
update_frequency: 10.0 # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
  </rosparam>
  <rosparam ns="move_base">
base_local_planner: base_local_planner/TrajectoryPlannerROS
TrajectoryPlannerROS:
  max_vel_x: 1.0 # 1.0
  # to escape from stuck
  #min_vel_x: 0.25 # 0.15
  min_vel_x: 0.15 # 0.15
  acc_lim_th: 3.2 # 3.2
  min_in_place_vel_theta: 0.3 # 0.3
  max_rotational_vel: 0.5 # for rotate_recovery
  escape_vel: 0.1 # -0.1
  sim_granularity: 0.025 # 0.025
  heading_lookahead: 10.0
  heading_scoring: true
# Recovery behaviors
oscillation_distance: 0.5
oscillation_timeout:  0.0 # 10.0
clearing_rotation_allowed: false ### true
recovery_behavior_enabled: true
recovery_behaviors:
  - name: "conservative_reset"
    type: "clear_costmap_recovery/ClearCostmapRecovery"
  - name: "rotate_recovery"
    type: "rotate_recovery/RotateRecovery"
    frequency: 20.0
    sim_granularity: 0.017
  - name: "aggressive_reset"
    type: "clear_costmap_recovery/ClearCostmapRecovery"
#  - name: "move_slow_and_clear"
#    type: "move_slow_and_clear/MoveSlowAndClear"
conservative_reset: {reset_distance: 1.0}
aggressive_reset: {reset_distance: 0.2} # 0.5
move_slow_and_clear: {clearing_distance: 0.5, limited_distance: 0.3, limited_rot_speed: 0.45, limited_trans_speed: 0.25}
planner_frequency: 0.2
forward_point_distance: 0
  </rosparam>