frame_id: map
base_frame: base_link
nominal_goal_topic: /factory_search_adapter/nominal_goal
static_map_topic: /map
local_costmap_topic: /move_base/local_costmap/costmap
alignment_status_topic: /factory_alignment_demo/status
make_plan_service: /move_base/make_plan

# P itself, then two 8-direction rings around P.
ring_radii: [0.40, 0.60]
ring_directions: 8

# Physical footprint 0.335 x 0.256 m plus 0.03 m on every side.
checked_footprint_length: 0.395
checked_footprint_width: 0.316
static_occupied_threshold: 65
local_cost_threshold: 80
local_costmap_timeout_seconds: 2.0
candidate_goal_timeout_seconds: 45.0
candidate_search_timeout_seconds: 80.0
move_base_server_timeout_seconds: 2.0
make_plan_response_timeout_seconds: 0.4
timer_period_seconds: 0.2