Base local planner params.yaml

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# http://wiki.ros.org/navigation/Tutorials/RobotSetup section 2.4
TrajectoryPlannerROS:
  max_vel_x: 2.5
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: true

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