enable_path_planning_thread: true
warm_start_config {
    xy_grid_resolution: 0.3
    phi_grid_resolution: 0.1
    next_node_num: 10
    step_size: 0.25
    traj_forward_penalty: 1.0
    traj_back_penalty: 1.0
    traj_gear_switch_penalty: 10.0
    traj_steer_penalty: 0.0
    traj_steer_change_penalty: 0.0
    grid_a_star_xy_resolution: 0.25
    node_radius: 0.5
    traj_kappa_contraint_ratio: 0.7
}
