minco_adaptor.yaml

# Configuration for Planner adaptor to MINCO trajectory representation

# planner_hb_timeout: Timeout from planner heartbeat before emergency procedures activated
planner_hb_timeout: 0.5 
# ignore_hb_checks: If true, disable timeout check for planner heartbeat
ignore_hb_checks: true
# checks_freq: Frequency at which to perform safety checks 
checks_freq: 10.0
# sample_plan_freq: Frequency at which to sample the trajectory plan
sample_plan_freq: 75.0