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- 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
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