# SBPLLatticePlanner:
#   environment_type: XYThetaLattice
#   planner_type: ARAPlanner
#   allocated_time: 5.0
#   initial_epsilon: 3.0
#   forward_search: false
#   allow_unknown: true

base_global_planner: SBPLLatticePlanner
SBPLLatticePlanner:
  environment_type: XYThetaLattice
  planner_type: ARAPlanner
  allocated_time: 10.0
  initial_epsilon: 15.0
  forward_search: false
  nominalvel_mpersecs: 0.8
  timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
  allow_unknown: true