
### replanning
controller_frequency: 30.0   # run controller at 15.0 Hz
controller_patience: 0.0    # 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: 2.0        # if the first planning attempt failed, abort planning retries after 5.0 s...
max_planning_retries: 0     # ... or after 10 attempts (whichever happens first)
oscillation_timeout: -1    # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 0.5
### recovery behaviors
recovery_behavior_enabled: true
recovery_behaviors: [       
                      {name: aggressive_reset, type: ClearCostmapRecovery},
                      {name: conservative_reset, type: ClearCostmapRecovery},                      
                    ]

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

aggressive_reset:
  reset_distance: 3.0

ClearCostmapRecovery:
  library_path: librobot_clear_costmap_recovery

MoveBase:
  library_path: libmove_base
