This package contains an alternative navigation approach as developed within the thesis of Melvin de Wildt: napoleon_driving
Most parameters are specified in config/NapoleonNavigation.cfg so that they are dynamically reconfigurable. To change the default values, only change the corresponding yaml files with the default values for navigation with only ropod (config/napoleon_navigation_ropod.yaml), and navigation with ropod and a load (config/napoleon_navigation_load.yaml).
During runtime, the parameters are changed by the scripts/config_switcher node, which listens to the /route_navigation/set_load_attached topic.