### footprint
# footprint: [[0.488,-0.293],[0.488,0.293],[-0.412,0.293],[-0.412,-0.293]] # mir 100
footprint: [[0.405,-0.293],[0.405,0.293],[-0.412,0.293],[-0.412,-0.293]]   # mir 250
# footprint: [[0.394,-0.385],[0.394,0.385],[-0.363,0.385],[-0.363,-0.385]]

### replanning
controller_frequency: 15.0   # run controller at 5.0 Hz
controller_patience: 2.0    # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
planner_frequency: 0.0       # don't continually replan (only when controller failed)
planner_patience: 5.0        # if the first planning attempt failed, abort planning retries after 5.0 s...
max_planning_retries: 5     # ... or after 10 attempts (whichever happens first)
oscillation_timeout: 30.0    # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 0.3
### recovery behaviors
recovery_behavior_enabled: true
recovery_behaviors: [       
                      {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery},
                      {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, 
                      # {name: particular, type: twist_recovery/TwistRecovery},
                      # {name: by_pass, type: direction_zones_recovery/DirectionZonesRecovery},                     
                    ]

conservative_reset:
  reset_distance: 3.0        # clear obstacles farther away than 3.0 m
  force_updating: true
  # invert_area_to_clear: true

aggressive_reset:
  reset_distance: 3.0
  force_updating: true

particular:
  linear_x: -0.3
  linear_y: 0.0
  angular_z: 0.0
  duration: 1.5

# advoicedance:
#   use_local_frame: false
#   plan_topic: /move_base_node/SBPLLatticePlanner/plan
#   planning_distance: 4.0

by_pass:
  reset_distance: 8.0
  force_updating: true
  affected_maps: global
