planner_server:
  ros__parameters:
    use_sim_time: true
    expected_planner_frequency: 10.0
    planner_plugins: ["GridBased"]
    
    GridBased:
      plugin: "nav2_smac_planner/SmacPlannerLattice"
      tolerance: 0.10
      allow_unknown: false                 # Allow traveling in unknown space
      max_iterations: 1000000             # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
      max_planning_time: 5.0              # Max time in s for planner to plan, smooth
      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
      analytic_expansion_max_length: 0.50  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
      reverse_penalty: 1.0                # Penalty to apply if motion is reversing, must be => 1
      change_penalty: 0.05                # Penalty to apply if motion is changing directions (L to R), must be >= 0
      non_straight_penalty: 2.05          # Penalty to apply if motion is non-straight, must be => 1
      cost_penalty: 2.5               # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
      rotation_penalty: 100.0              # Penalty to apply to in-place rotations, if minimum control set contains them
      retrospective_penalty: 0.015
      lattice_filepath: "lattice_planner/output.json"                # The filepath to the state lattice graph
      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
      cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
      allow_reverse_expansion: false   # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
      smooth_path: true  
      use_final_approach_orientation: true
      cost_travel_multiplier: 2.0
      smoother:
        max_iterations: 1000
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-10
        do_refinement: true
        refinement_num: 2