Yaml files for turtlebot 3

gistfile1.txt

obstacle_range: 2.5
raytrace_range: 3.5
#footprint: [[-0.110, -0.090], [-0.110, 0.090], [0.041, 0.090], [0.041, -0.090]]
robot_radius: 0.105
inflation_radius: 0.15
cost_scaling_factor: 0.5
map_type: costmap
transform_tolerance: 5
observation_sources: scan
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
################################################################################################################################################DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.18
  min_vel_x: -0.18

  max_vel_y: 0.0
  min_vel_y: 0.0

  # The velocity when robot is moving in a straight line
  max_trans_vel:  0.18
  min_trans_vel:  0.05
#  trans_stopped_vel: 0.01

  max_rot_vel: 1.8
  min_rot_vel: 0.7
#  rot_stopped_vel: 0.01

  acc_lim_x: 2.0
  acc_lim_theta: 2.0
  acc_lim_y: 0.0

# Goal Tolerance Parametes
  yaw_goal_tolerance: 0.15
  xy_goal_tolerance: 0.05

# Forward Simulation Parameters
  sim_time: 3.5
  vx_samples: 20
  vy_samples: 0
  vtheta_samples: 40

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 24.0
  occdist_scale: 0.04
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
 # global_frame_id: odom
############################################################################################################################################################
global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 2.0
  publish_frequency: 0.1
  static_map: true
  transform_tolerance: 1.0
#################################################################################################################################################
local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 2.0
  publish_frequency: 0.5
  static_map: false
  rolling_window: true
  width: 3.5
  height: 3.5
  resolution: 0.05
  transform_tolerance: 1.0
#################################################################################################################################################
shutdown_costmaps: false
controller_frequency: 3.0
controller_patience: 1.0
planner_frequency: 2.0
planner_patience: 1.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.10