/homer_navigation/safe_path_weight:               0.1  # factor weight for safer path in relation to shortest path
/homer_navigation/waypoint_sampling_threshold:    1.5  # factor of how dense the path waypoints are sampled regarding the obstacle_distance of the last or next waypoint 
/homer_navigation/frontier_safeness_factor:       1.4  # factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe

### cost calculation parameters
/homer_navigation/allowed_obstacle_distance/min:  0.27  # m robot must stay further away than this from obstacles
/homer_navigation/allowed_obstacle_distance/max:  5.0  # m not used at the moment
/homer_navigation/safe_obstacle_distance/min:     0.5  # m if possible robot should move further away than this from obstacles
/homer_navigation/safe_obstacle_distance/max:     1.5  # m further away than this from obstacles doesn't give a lesser cost addition

### collision Avoidance parameters
/homer_navigation/collision_distance:             0.3  # m distance to obstacle from robotFront in which the obstacle avoidance will be executed
/homer_navigation/collision_distance_near_target: 0.2  # m distance to obstacle from robotFront where obstacle avoidance won't be executed when near the target
/homer_navigation/backward_collision_distance:    0.5  # m distance behind robot in which the robot won't back up into while doing collision avoidance 
/homer_navigation/min_y:                          0.23 # m half robot width for max_move_distance calculation 
/homer_navigation/min_x:                          0.3  # m distance from base_link to robot front for max_move_distance calculation 

### check path on map update
/homer_navigation/check_path:                     true # toggles if the calculated path will be checked for obstacles while navigating
/homer_navigation/check_path_max_distance:        2    # m maximal distance from robot position in which the path is being checked for obstacles

### speed parameters
/homer_navigation/min_turn_angle:                 0.1 # rad values lower than this angle will let the navigation assume reaching the designated position   
/homer_navigation/max_turn_speed:                 0.5  # rad/s max turn velocity the navigation can send
/homer_navigation/min_turn_speed:                 0.3  # rad/s min turn speed for Final Turn so the Robot doesn't stop turning
/homer_navigation/max_drive_angle:                0.4  # rad threshold for driving and turning - if above that value only turn

/homer_navigation/max_move_speed:                 0.4  # m/s   max move speed the navigation can send
### caution factors values near 0 mean high caution values greater values mean less caution
### if any factor equals 0 the robot can't follow paths !!
/homer_navigation/map_speed_factor:               1.2  # factor for the max speed calculation of the obstacleDistancemap
/homer_navigation/waypoint_speed_factor:          1.3  # factor for the max speed calculation with the distance to the next Waypoint
/homer_navigation/obstacle_speed_factor:          0.8  # factor for the max speed calculation with the last laser max movement distance

/homer_navigation/callback_error_duration:        0.3  # s max duration between pose and laser callbacks before error handling is executed

/homer_navigation/use_ptu:                       false # bool toggles if the ptu is being used to look at the next Waypoint during navigation
/homer_navigation/unknown_threshold:              50   # obstacle strenght under which the obstacle is ignored by navigation
/homer_navigation/waypoint_radius_factor:         0.25 # factor for includance of obstacle map