SamplePlanner:
  # random sample points
  sample_points: 2000 #1000 for informed RRT*, 3000 for others
  # max distance between sample points
  sample_max_d: 10.0
  # optimization radius
  optimization_r: 20.0
  # 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
  # whether publish expand zone or not
  expand_zone: true