# position_planner_name: PNKXLocalPlanner
position_planner_name: HybridLocalPlanner
docking_planner_name: PNKXDockingLocalPlanner
go_straight_planner_name: PNKXGoStraightLocalPlanner
rotate_planner_name: PNKXRotateLocalPlanner
base_local_planner: LocalPlannerAdapter
base_global_planner: CustomPlanner

robot_base_frame: base_link
transform_tolerance: 1.0
obstacle_range: 3.0
#mark_threshold: 1
publish_voxel_map: true
footprint_padding: 0.0

navigation_map:
  map_topic: /map
  map_pkg: managerments
  map_file: maze

virtual_walls_map:
  map_topic: /virtual_walls/map
  namespace: /virtual_walls
  map_pkg: managerments
  map_file: maze
  use_maximum: true
  lethal_cost_threshold: 100

obstacles:
  observation_sources:  b_scan_marking b_scan_clearing #f_scan_marking f_scan_clearing
  # f_scan_marking:
  #   topic: /f_scan
  #   data_type: LaserScan
  #   clearing: false
  #   marking: true
  #   inf_is_valid: false
  #   min_obstacle_height: 0.0
  #   max_obstacle_height: 0.25
  # f_scan_clearing:
  #   topic: /f_scan
  #   data_type: LaserScan
  #   clearing: true
  #   marking: false
  #   inf_is_valid: false
  #   min_obstacle_height: 0.0
  #   max_obstacle_height: 0.25
  b_scan_marking:
    topic: /b_scan
    data_type: LaserScan
    clearing: false
    marking: true
    inf_is_valid: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25
  b_scan_clearing:
    topic: /b_scan
    data_type: LaserScan
    clearing: true
    marking: false
    inf_is_valid: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.25