LocalPlannerAdapter:
  library_path: liblocal_planner_adapter
  yaw_goal_tolerance: 0.017  
  xy_goal_tolerance: 0.03 
  min_approach_linear_velocity: 0.06

HybridLocalPlanner:
# base_local_planner: "hybrid_local_planner/HybridLocalPlanner"
# HybridLocalPlanner:
    library_path: libhybrid_local_planner
    odom_topic: odom
    # Trajectory

    max_global_plan_lookahead_dist: 4.0
    global_plan_viapoint_sep: 0.5
    global_plan_prune_distance: 0.0
    global_plan_goal_sep: 0.05

    # Robot

    max_vel_x: 1.0
    max_vel_x_backwards: -0.2
    max_vel_theta: 0.5
    acc_lim_x: 1.0
    acc_lim_theta: 2.0
    turn_around_priority: True
    stop_dist: 0.5
    dec_dist: 1.0


    # GoalTolerance

    xy_goal_tolerance: 0.05
    yaw_goal_tolerance: 0.05

    # Optimization

    # PP Parameters
    w_vel: 0.9
    w_omega: 1.12
    # DWA Parameters
    robot_max_v: 0.4
    robot_max_w: 0.4
    enable_backward_motion: False
    w_targetheading: 1.7
    w_velocity: 0.2
    w_clearance: 0.2
    w_pathDistance: 0.05
    time_horizon: 3.0
    velocity_resolution: 0.015

    segment_transition_threshold: 0.01 # Ngưỡng khoảng cách chuyển segment
    calibration_factor: 1.5 # Hệ số hiệu chuẩn
    use_obstacle_avoidance: true # Bật tắt tránh vật cản