move_base_params.yaml

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shutdown_costmaps: false

controller_frequency: 2.0
controller_patience: 5.0

planner_frequency: 1.0
planner_patience: 5.0

oscillation_timeout: 10.0
oscillation_distance: 0.2

# local planner - default is trajectory rollout
# base_local_planner: "dwa_local_planner/DWAPlannerROS"