planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    use_sim_time: False

    GridBased:
      plugin: "nav2_smac_planner/SmacPlannerLattice" # In Iron and older versions, "/" was used instead of "::"
      allow_unknown: true # Allow traveling in unknown space
      tolerance: 0.05 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
      max_iterations: 1000000 # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
      max_on_approach_iterations: 1000 # (currently not used) Maximum number of iterations after within tolerances to continue to try to find exact solution
      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: 3.5 # For Hybrid/Lattice nodes The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
      analytic_expansion_max_cost: 50.0 # The maximum single cost for any part of an analytic expansion to contain and be valid, except when necessary on approach to goal
      analytic_expansion_max_cost_override: false #  Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
      reverse_penalty: 1.0 # Penalty to apply if motion is reversing, must be => 1
      change_penalty: 0.01 # Penalty to apply if motion is changing directions (L to R), must be >= 0
      non_straight_penalty: 1.0 # Penalty to apply if motion is non-straight, must be => 1
      cost_penalty: 2.0 # 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: 2.0 # Penalty to apply to in-place rotations, if minimum control set contains them
      minimum_turning_radius: 0.6
      retrospective_penalty: 0.015
      lattice_filepath: "<path>" # 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 subsequent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
      allow_reverse_expansion: True # 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: False # If true, does a simple and quick smoothing post-processing to the path
      debug_visualizations: False # For Hybrid/Lattice nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
      smoother:
        max_iterations: 1000
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-10
        do_refinement: true
        refinement_num: 2