topology_pure_pursuit:
  ros__parameters:
    use_sim_time: false
    enable_topology_planning: false
    accept_external_plan: true
    publish_cmd_vel: true
    stop_without_plan: true

    map_frame: map
    odom_topic: /odom
    external_plan_topic: /plan
    cmd_vel_topic: /planner_cmd_vel
    status_topic: /pure_pursuit_status
    cancel_topic: /navigation_cancel

    control_rate: 20.0
    lookahead_distance: 0.28
    min_lookahead_distance: 0.10
    lookahead_curvature_gain: 0.80
    lookahead_error_gain: 2.00
    heading_correction_gain: 0.80
    cross_track_correction_gain: 1.20
    cross_track_speed_gain: 1.80
    min_tracking_speed_ratio: 0.35
    path_reacquire_distance: 0.45
    goal_tolerance: 0.06
    goal_yaw_tolerance: 0.174533
    align_goal_yaw: false
    final_alignment_offset: 0.25
    final_alignment_speed: 0.06
    linear_speed: 0.45
    min_linear_speed: 0.06
    reverse_speed: 0.18
    slowdown_distance: 0.45
    curvature_slowdown_gain: 0.06
    min_curvature_speed_ratio: 0.70
    min_goal_slowdown_ratio: 0.35
    max_angular_speed: 3.20
    min_turning_radius: 0.25

    latency_compensation: true
    max_latency_compensation: 0.15
    max_odom_age: 0.80
    tf_timeout: 0.10
    state_log_period: 1.0
