controller_frequency: 2.0
controller_patience: 10.0

planner_frequency: 2.0
planner_patience: 5.0

recovery_behavior_enabled: true
clearing_rotation_allowed: true
shutdown_costmaps: false

oscillation_timeout: 10.0
oscillation_distance: 0.2

max_planning_retries: -1
conservative_reset_dist: 6.0

controller_frequency: 10.0
controller_patience: 10.0

planner_patience: 5.0
planner_frequency: 4.0

recovery_behavior_enabled: true
clearing_rotation_allowed: true
shutdown_costmaps: false

oscillation_timeout: 10.0
oscillation_distance: 0.2

max_planning_retries: -1
conservative_reset_dist: 6.0

Revert "Dicrease frequency of map updates and controller"
Revert "Dicrease frequency of map updates and controller"

This reverts commit 21200968dee3142c2335572c6ee50f20fc0bb161.
