behavior_server:
  ros__parameters:
    use_sim_time: True
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    global_frame: odom
    robot_base_frame: body
    transform_tolerance: 0.1

    # Parameters for Spin
    rotational_acc_lim: 3.2
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    simulate_ahead_time: 2.0