vox_nav_controller_server_rclcpp_node:
   ros__parameters:
      controller_plugin: "MPCControllerAcadoROS"                              # other options: MPCControllerCasadiROS, MPCControllerAcadoROS, LyapunocController
      controller_frequency: 200.0                                             # acado is really fast(+1000.0Hz) casadi can deal up to just 20.0Hz maybe
      goal_tolerance_distance: 0.2                                            # in meters, once smaller than this one controller tries to minimize orientation error
      goal_tolerance_orientation: 0.1                                         # in radians, once smaller than this value,controller exits with success
      transform_timeout: 0.01                                                 # seconds, this is used to regulate lookUpTransfrom calls from tf2
      global_plan_look_ahead_distance: 3.5                                    # look this amount of meters from current robot pose to remaining global path

MPCControllerCasadiROS:
   plugin: "mpc_controller_casadi::MPCControllerCasadiROS"
   N: 8                                                                 # timesteps in MPC Horizon
   DT: 0.1                                                              # discretization time between timesteps(s)
   L_F: 0.66                                                            # distance from CoG to front axle(m)
   L_R: 0.66                                                            # distance from CoG to rear axle(m)
   V_MIN: -1.5                                                          # min / max velocity constraint(m / s)
   V_MAX: 1.5
   A_MIN: -1.5                                                          # min / max acceleration constraint(m / s ^ 2)
   A_MAX: 1.5
   DF_MIN: -0.4                                                         # min / max front steer angle constraint(rad)
   DF_MAX: 0.4
   A_DOT_MIN: -1.0                                                      # min / max jerk constraint(m / s ^ 3)
   A_DOT_MAX: 1.0
   DF_DOT_MIN: -0.8                                                     # min / max front steer angle rate constraint(rad / s)
   DF_DOT_MAX: 0.8
   Q: [10.0, 10.0, 0.1, 0.1]                                            # weights on x, y, psi, and v.
   R: [10.0, 100.0]                                                     # weights on jerk and slew rate(steering angle derivative)
   debug_mode: False                                                    # enable/disable debug messages

MPCControllerAcadoROS:
   plugin: "mpc_controller_acado::MPCControllerAcadoROS"
   N: 20                                                                # timesteps in MPC Horizon
   Ni: 1
   DT: 0.1                                                              # discretization time between timesteps(s)
   L_F: 0.67                                                            # distance from CoG to front axle(m)
   L_R: 0.67                                                            # distance from CoG to rear axle(m)
   V_MIN: -1.0                                                          # min / max velocity constraint(m / s)
   V_MAX: 1.0
   A_MIN: -1.0                                                          # min / max acceleration constraint(m / s ^ 2)
   A_MAX: 1.0
   DF_MIN: -0.6                                                         # min / max front steer angle constraint(rad)
   DF_MAX: 0.6
   Q: [10.0, 10.0, 0.0, 0.0]                                            # weights on x, y, v, and psi.
   R: [10.0, 100.0]                                                     # weights on input acc and df, acceleration and steering angle
   debug_mode: False                                                    # enable/disable debug messages