Confusing parameters in base_local_planner

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Hi all,

I'm running ROS distribution indigo and I'm quite confused in the base_local_planner parameters.

Based on the official wiki page(http://wiki.ros.org/base_local_planner), the only parameter for in-place rotation is "min_in_place_vel_theta".

But in my experiment, things are quite different. I found:

1. max_vel_theta & min_vel_theta seems effect the in-place rotation vel when the robot start moving to a goal.
2. max_rotational_vel (this parameter is not listed in the wiki page, I found it in the src code) seems effect the in-place rotation vel when the robot reached to a goal.
3. I don't know what the parameter "min_in_place_vel_theta" exactly.. but in the following code, it looks like the correct parameter name SHOULD be "min_in_place_rotational_vel"

https://github.com/ros-planning/navig...

Those parameter names is so confused to me. Any comment??

Kevin Kuei