# Description: 三轮全向移动小车的全局路径规划参数配置文件.
# Author: corvin
# History:
#   20200821: init this file.

# Global Planner Selection
base_global_planner: "global_planner/GlobalPlanner"

GlobalPlanner:
    allow_unknown: false
    default_tolerance: 0.2
    visualize_potential: false
    use_dijkstra: true
    use_quadratic: true
    use_grid_path: false
    old_navfn_behavior: false
    lethal_cost: 253
    neutral_cost: 50
    cost_factor: 3
    publish_potential: true
    orientation_mode: 0
    orientation_window_size: 1