i dont konw how explani this so here is a video of it.

link

base_local_planner

TrajectoryPlannerROS:

  holonomic_robot: false
  dwa: true

  heading_scoring: false
  heading_lookahead: 1.0
  max_vel_x: 0.12    #0.12
  min_vel_x: 0.09
  max_vel_theta: 0.08
  min_in_place_vel_theta: 0.04
  escape_vel: -0.09
  acc_lim_theta: 0.02
  acc_lim_x: 0.12
  acc_lim_y: 0.12

dwa_local_planner

DWAPlannerROS:

  holonomic_robot: false
  dwa: true
  heading_scoring: false
  heading_lookahead: 1.0
  acc_lim_x: 0.5
  acc_lim_y: 0.0
  acc_lim_th: 0.3
  max_vel_trans: 0.5
  min_vel_trans: 0.1
  max_vel_x: 0.5     #0.12 0.3
  min_vel_x: -0.5
  max_vel_y: 0.0
  min_vel_y: 0.0
  max_vel_theta: 0.4
  min_vel_theta: 0.1
  yaw_goal_tolerance: 0.15
  xy_goal_tolerance: 0.15 #0.10 # 0.50
  latch_xy_goal_tolerance: false
  sim_time: 2.0 #4.0 #2.0
  sim_granularity: 0.025  #0.25 #0.025
  vx_samples: 5 #20  #3
  vy_samples: 0
  vth_samples: 10  #40 #5
  controller_frequency: 5 #20.0  #5

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 24.0
  occdist_scale: 0.5
  forward_point_distance: 0.325
  stop_time_buffer: 1.0
  scaling_speed: 0.25
  max_scaling_factor: 0.2
  oscillation_reset_dist: 0.05
  oscillation_reset_angle: 0.1

# Debugging
  publish_cost_grid: true
  publish_cost_grid_pc: true
  publish_traj_pc: true
  prune_plan: true
  global_frame_id : odom

costmap commom params

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.35, 0.25], [-0.22, 0.25], [-0.22, -0.25], [0.35, -0.25]]
footprint_padding: 0.01

inflation_radius: 0.1
observation_sources: laser
laser: {sensor_frame: lidar_link, data_type: LaserScan, clearing: true, marking: true, topic: lidar, inf_is_valid: true}

global costmap

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  static_map: true
  width: 25.0
  height: 25.0
  inflation_layer:
    inflation_radius: 0.1

local costmap

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.3
  static_map: true
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  inflation_layer: 
    inflation_radius: 0.2       # 0.0 Localdeki alanlar

base map params

base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
recovery_behavior_enabled: false
recovery_behaviour_enabled: false

controller_patience: 15.0

controller_frequency: 5.0
planner_frequency: 1.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2


GlobalPlanner:
  allow_unknown: true
  default_tolerance: 0.01
  visualize_potential: true

  use_dijkstra: true
  use_quadratic: true
  use_grid_path: false
  old_navfn_behavior: false
  orientation_mode: 2
  orientation_window_size: 2