trajectory_guard_node:
  ros__parameters:
    input_path_topic: /trajectory_guard/input_path
    patched_path_topic: /trajectory_guard/patched_path
    costmap_topic: /local_costmap/costmap
    odom_topic: /odom_combined
    planner_action: /compute_path_to_pose
    follow_action: /follow_path
    planner_id: GridBased
    controller_id: FollowPath
    goal_checker_id: ""
    check_period_sec: 0.5
    lookahead_distance: 2.0
    rejoin_min_distance: 1.5
    rejoin_max_distance: 5.0
    occupied_threshold: 50
    treat_unknown_as_occupied: true
    footprint_half_length: 0.14
    footprint_half_width: 0.085
    footprint_padding: 0.04
    footprint_sample_step: 0.05
    repair_cooldown_sec: 0.5
    blocked_retry_wait_sec: 0.8
    wait_for_planner_costmap_update: true
    min_repair_progress_indices: 5
    publish_zero_on_blocked: true
    cmd_vel_topic: /cmd_vel
