decomposition_type: 0 # [0: Boustrophedon, 1: Trapezoidal]
cost_function_type: 1 # [0: Euclidean Distance, 1: Time, 2: Number of Waypoints]
v_max: 3.0 # Only for time optimization.
a_max: 1.0 # Only for time optimization.
wall_distance: 0.0
offset_polygons: false
sweep_single_direction: false

# Sensor model.
sensor_model_type: 1 # [0: Line, 1: Frustum]
lateral_overlap: 0.6
lateral_footprint: 1.0 # Only for line sensor model.
lateral_fov: 0.84 # Only for frustum sensor model.

latch_topics: true

publish_plan_on_planning_complete: false
publish_visualization_on_planning_complete: true
set_start_goal_from_rviz: true
set_polygon_from_rviz: true