EvolutionaryPlanner:
  # offset of transform from world(x,y) to grid map(x,y)
  convert_offset: 0.0
  # error tolerance
  default_tolerance: 0.0
  # whether outline the map or not
  outline_map: true
  # obstacle inflation factor
  obstacle_factor: 0.5

  ## Ant Colony Optimization(ACO) planner 
  # number of ants
  n_ants: 50
  # pheromone weight coefficient
  alpha: 1.0
  # heuristic factor weight coefficient
  beta: 8.0
  # evaporation coefficient
  rho: 0.1
  # pheromone gain
  Q: 1.0
  # maximum iterations
  max_iter: 30