# trajectory_control_node parameters.
# Values moved verbatim from the inline <param> block the legacy
# local_bringup/launch/local.launch.xml carried for trajectory_controller
# (P5-E2, RFC #379); loaded by launch/trajectory_controller.launch.xml.
/**:
  ros__parameters:
    tf_prefix: ""
    target_frame: map
    tracking_point_distance_limit: 1000.5
    velocity_look_ahead_time: 0.9
    # look ahead time controls the speed, greater is faster
    look_ahead_time: 1.0
    virtual_tracking_ahead_time: 0.5
    min_virtual_tracking_velocity: 0.5
    sphere_radius: 1.0
    ff_min_velocity: 0.0
    search_ahead_factor: 1.5
    transition_velocity_scale: 1.0
    traj_vis_thickness: 0.03
    rewind_skip_max_velocity: 0.1
    rewind_skip_max_distance: 0.1
    velocity_sphere_radius_multiplier: 1.0