topology_pure_pursuit:
  ros__parameters:
    use_sim_time: false

    # Tracker-only mode: consume /plan generated by a planner node.
    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: /cmd_vel
    status_topic: /pure_pursuit_status

    control_rate: 20.0
    lookahead_distance: 0.55
    goal_tolerance: 0.20
    linear_speed: 0.30
    min_linear_speed: 0.08
    reverse_speed: 0.12
    slowdown_distance: 0.80
    curvature_slowdown_gain: 0.18
    max_angular_speed: 1.5
    min_turning_radius: 0.40

    latency_compensation: true
    max_latency_compensation: 0.25
    max_odom_age: 0.80
    tf_timeout: 0.05