base_global_planner: CustomPlanner
CustomPlanner:
  environment_type: XYThetaLattice
  planner_type: ARAPlanner
  allocated_time: 10.0
  initial_epsilon: 1.0
  force_scratch_limit: 10000
  forward_search: false
  nominalvel_mpersecs: 0.8
  timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
  allow_unknown: true
  directory_to_save_paths: "/init/paths"
  pathway_filename: "pathway.txt"
  current_pose_topic_name: "/amcl_pose"
  map_frame_id: "map"
  base_frame_id: "base_link"