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TebLocalPlannerROS:

 # Misc
 odom_topic: odom
 map_frame: map                                 # default odom
    
 # Trajectory
  
 teb_autosize: True
 dt_ref: 0.3            						#轨迹的局部分辨率,m
 dt_hysteresis: 0.1     						#dt_ref +-dt_hysteresis
 max_samples: 500       						# wiki not include ??
 min_samples:3         							#int, default: 3
 global_plan_overwrite_orientation: True
 allow_init_with_backwards_motion: False
 max_global_plan_lookahead_dist: 2.0	        #localcost half size
 global_plan_viapoint_sep: -1                   #负数是禁用; 如果正, 路径跟随模式时,决定了全局路径的分辨率? 与weight_viapoint 有关, defines the minimum separation between two consecutive via-points along the global plan (in meters). E.g. by setting the value to 0.5, 
 global_plan_prune_distance: 1
 exact_arc_length: False                        # 默认false, 用于欧几里得近似, 如果为真，规划器在速度、加速度和转弯率计算中使用精确的弧长[->增加的CPU时间]，否则使用欧几里德近似
 feasibility_check_no_poses: 4                  # 预测plan 上哪些点检查可行性
 publish_feedback: False                        # 默认false; True 用来检查完整轨迹和激活的障碍物, 看publisher 即可
 shrink_horizon_backup: True               # 当planner infeasibility时候允许临时缩小视野50%
 shrink_horizon_min_duration: 10           #允许缩小视野的最小时间
    
 # Robot
         
 max_vel_x: 0.4
 max_vel_x_backwards: 0.2
 max_vel_y: 0.0
 max_vel_theta: 0.3
 acc_lim_x: 0.5
 acc_lim_theta: 0.5
 min_turning_radius: 0.0 # diff-drive robot (can turn on place!)

 footprint_model:
   type: "point"                       # ~/teb_markers  查看footprint rviz

 # GoalTolerance
    
 xy_goal_tolerance: 0.2
 yaw_goal_tolerance: 0.1
 free_goal_vel: False                   # default false, 允许机器人以最大速度驶向目的地
 complete_global_plan: True
    
 # Obstacles
    
 min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point"; If model is Circle this valude should subtract radius
 inflation_dist: 0.6     # a little bigger than min_obstacle_dist
 include_costmap_obstacles: True   # 默认True, 与costmap_conventor 话题/obstacles 有关
 costmap_obstacles_behind_robot_dist: 1.2
 obstacle_poses_affected: 30       #障碍物与附近路径点的关联影响, 策略从kinetic 版本已经更新, 该接口已经废弃, 只有legacy_obstacle_association 为True 时, 采取旧障碍物关联策略

 dynamic_obstacle_inflation_dist: 0.6      #wiki not include ??
 include_dynamic_obstacles: False    #默认false, 如果为True, 与costmap_conventer /obstacles 有关

 costmap_converter_plugin: ""
 costmap_converter_spin_thread: True
 costmap_converter_rate: 5

 # legacy obstacle and pose association strategy
 legacy_obstacle_association: false     #默认false, kinetic 之前版本的策略, 新版本默认不用
 obstacle_poses_affected: 30            #legacy 对应
 obstacle_association_force_inclusion_factor: 1.5 #non-legacy,  即新策略, 2*min_obstacle_dist 之内的障碍物关联优化
 obstacle_association_cutoff_factor: 5  #non-legay, 即新策略, 超过5*min_obstacle_dist 的障碍物忽略
 

 # Optimization
    
 no_inner_iterations: 5
 no_outer_iterations: 4
 optimization_activate: True
 optimization_verbose: False
 penalty_epsilon: 0.1
 obstacle_cost_exponent: 4
 weight_max_vel_x: 2
 weight_max_vel_theta: 1
 weight_acc_lim_x: 1
 weight_acc_lim_theta: 1
 weight_kinematics_nh: 1000              #按照非全向运动学来
 weight_kinematics_forward_drive: 1      #允许后退
 weight_kinematics_turning_radius: 1     #only for carlike
 weight_optimaltime: 1 # must be > 0
 weight_shortest_path: 0
 weight_obstacle: 100
 weight_inflation: 0.2
 weight_dynamic_obstacle: 10
 weight_dynamic_obstacle_inflation: 0.2
 weight_viapoint: 1                      # path following mode
 weight_adapt_factor: 2
 
 optimization_activate: False            # 激活优化
 optimization_verbose: False             # 默认假

 # Homotopy Class Planner

 enable_homotopy_class_planning: True    # default true, 消耗更多CPU, 别用了
 enable_multithreading: True
 max_number_classes: 4                   # 计算不过来的时候, 设为2
 selection_cost_hysteresis: 1.0
 selection_prefer_initial_plan: 0.9
 selection_obst_cost_scale: 100.0
 selection_alternative_time_cost: False
 
 roadmap_graph_no_samples: 15
 roadmap_graph_area_width: 5
 roadmap_graph_area_length_scale: 1.0
 h_signature_prescaler: 0.5
 h_signature_threshold: 0.1
 obstacle_heading_threshold: 0.45
 switching_blocking_period: 0.0
 viapoints_all_candidates: True
 delete_detours_backwards: True
 max_ratio_detours_duration_best_duration: 3.0
 visualize_hc_graph: False
 visualize_with_time_as_z_axis_scale: False

# Recovery
 
 oscillation_recovery: True
 oscillation_v_eps: 0.1
 oscillation_omega_eps: 0.1
 oscillation_recovery_min_duration: 10
 oscillation_filter_duration: 10