LocalPlannerAdapter:
  library_path: liblocal_planner_adapter
  yaw_goal_tolerance: 0.017  
  xy_goal_tolerance: 0.03 
  min_approach_linear_velocity: 0.06

StanleyLocalPlanner:
# base_local_planner: "hybrid_local_planner/HybridLocalPlanner"
# HybridLocalPlanner:
    library_path: libstanley_local_planner