The main function of the base local planner is to compute the velocity commands from the goal sent from the ROS nodes. This file mainly contains the configurations related to velocity, acceleration, and so on. The base local planner configuration file of this robot is in chefbot_bringup/param/base_local_planner_params.yaml. The definition of this file is as follows:

TrajectoryPlannerROS: 
 
# Robot Configuration Parameters, these are the velocity limit of the robot 
  max_vel_x: 0.3 
  min_vel_x: 0.1 
 
#Angular velocity limit 
  max_vel_theta:  1.0 
  min_vel_theta: -1.0 
  min_in_place_vel_theta: 0.6 
 
#These are the acceleration limits of the robot   
  acc_lim_x: 0.5 
  acc_lim_theta: 1.0 
 
# Goal Tolerance Parameters: The tolerance of robot when it reach the goal position 
 
  yaw_goal_tolerance: 0.3 
  xy_goal_tolerance: 0.15 
 
# Forward Simulation Parameters 
  sim_time: 3.0 
  vx_samples: 6 
  vtheta_samples: 20 
 
# Trajectory Scoring Parameters 
  meter_scoring: true 
  pdist_scale: 0.6 
  gdist_scale: 0.8 
  occdist_scale: 0.01 
  heading_lookahead: 0.325 
  dwa: true 
 
# Oscillation Prevention Parameters 
  oscillation_reset_dist: 0.05 
 
# Differential-drive robot configuration : If the robot is holonomic configuration, set to true other vice set to false. Chefbot is a non holonomic robot. 
  
  holonomic_robot: false 
  max_vel_y: 0.0 
  min_vel_y: 0.0 
  acc_lim_y: 0.0 
  vy_samples: 1