Move Base Flex mbf_costmap_nav template configuration.

mbf_costmap_nav.yaml

#########################
### Static Parameters ###
#########################
robot_frame: base_link # the frame of the robot, which will be used to determine its position
map_frame: map # the global frame the robot is controlling in
force_stop_at_goal: false # force move base flex to stop the robot once the goal is reached
force_stop_on_cancel: false # force move base flex to stop the robot on navigation cancellation
mbf_tolerance_check: false # force move base flex to check for the goal tolerance
dist_tolerance: 0.1 # distance tolerance to the given goal pose
angle_tolerance: 0.175 # angle tolerance to the given goal pose
tf_timeout: 1.0 # time before a timeout used for tf requests

#################################################
### Dynamically Reconfigurable MBF Parameters ###
#################################################

# Planners
planners: # global planner, e.g. navfn/NavfnROS
  - name: GlobalPlanner
    type: global_planner/GlobalPlanner

planner_frequency: 0.0 # the rate in Hz at which to run the planning loop
planner_max_retries: 0 # how many times we will recall the planner in an attempt to find a valid plan before giving up
planner_patience: 2.0 # how long the planner will wait in seconds in an attempt to find a valid plan before giving up

# Controllers
controllers: # list of controller, e.g. eband_local_planner/EBandPlannerROS
  - name: TebLocalPlannerROS
    type: teb_local_planner/TebLocalPlannerROS

controller_frequency: 8.0 # the rate in Hz at which to run the control loop and send velocity commands to the base
controller_max_retries: -1 # how many times we will recall the controller in an attempt to find a valid command before giving up
controller_patience: -1.0 # how long the controller will wait in seconds without receiving a valid control before giving up

# Oscillation
oscillation_timeout: 0.0 # how far in meters the robot must move to be considered not to be oscillating
oscillation_distance: 0.5 # how long in seconds to allow for oscillation before executing recovery behaviors

# Other
recovery_enabled: false # enable the move_base_flex recovery behaviors to attempt to clear out space
recovery_patience: 15.0 # how much time we allow recovery behaviors to complete before canceling (or stopping if cancel fails).
restore_defaults: false # restore to the original configuration
shutdown_costmaps: false # shutdown the costmaps of the node when move_base_flex is in an inactive state.
shutdown_costmaps_delay: 1.0 # how long in seconds to wait after last action before shutting down the costmaps.

Some of the values are not default.