kp_i_: 0.3
xy_goal_tolerance_: 0.0001
yaw_goal_tolerance_: 0.0001
max_trans_vel_: 0.001
max_rot_vel_: 0.001
robot_front_ : 0.05
robot_back_ : 0.05
robot_width_min_ : 0.06
robot_width_max_ : 0.08
sensor_msg_scale : 0.1