diff --git a/model_car.mprim b/model_car.mprim
index d0570aa7fca5425b1184e70db2100278e9a82135..53ffc92da7ce39e448042989af072abc67074b02 100644
--- a/model_car.mprim
+++ b/model_car.mprim
@@ -1,80 +1,80 @@
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diff --git a/params/costmap/no_map/sbpl_global_params.yaml b/params/costmap/no_map/sbpl_global_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d0605610b7213f7d91c1a9b5c00aa88aaee314a3
--- /dev/null
+++ b/params/costmap/no_map/sbpl_global_params.yaml
@@ -0,0 +1,15 @@
+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: model_car/odom
+update_frequency: 1.0
+publish_frequency: 0.0
+rolling_window: true
+transform_tolerance: 1.0
+width: 15.0
+height: 15.0
+resolution: 0.05
+origin_x: 0.0
+origin_y: 0.0
+
+plugins:
+ - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
diff --git a/params/local_planner/ackermann_params.yaml b/params/local_planner/ackermann_params.yaml
index 4ec67eed0e439747c5af7f633e48e9b9e42683ce..1aa1eeae513e55e06fc485653f943102f2faf192 100644
--- a/params/local_planner/ackermann_params.yaml
+++ b/params/local_planner/ackermann_params.yaml
@@ -42,6 +42,8 @@ AckermannPlannerROS:
wheel_distance: 0.216
wheel_radius: 0.05
+ split_ignore_lenght: 0.1
+
cmd_vel_avg: 1
odom_avg: 1
diff --git a/params/local_planner/ackermann_sbpl_params.yaml b/params/local_planner/ackermann_sbpl_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7826af5700280e05b9a4080c49bcb10193ea16ae
--- /dev/null
+++ b/params/local_planner/ackermann_sbpl_params.yaml
@@ -0,0 +1,53 @@
+base_local_planner: "AckermannPlannerROS"
+
+AckermannPlannerROS:
+ max_sim_time: 3.0
+ min_sim_time: 1.0
+ sim_granularity: 0.2
+ angular_sim_granularity: 0.02
+
+ path_distance_bias: 50.0
+ goal_distance_bias: 10.0
+ occdist_scale: 0.05
+
+# stop_time_buffer:
+ oscillation_reset_dist: 0.002
+ oscillation_reset_angle: 0.001
+
+# forward_point_distance:
+
+# scaling_speed:
+# max_scaling_factor:
+
+ trans_vel_samples: 31
+ steer_angle_samples: 21
+
+ prune_plan: true
+ xy_goal_tolerance: 0.25
+ yaw_goal_tolerance: 0.5
+ trans_stopped_vel: 0.1
+ rot_stopped_vel: 0.1
+
+ restore_defaults: false
+
+ max_trans_vel: 1.0
+ min_trans_vel: -1.0
+ max_trans_acc: 0.2
+ max_steer_angle: 0.4
+ min_steer_angle: -0.4
+ max_steer_vel: 0.3
+ min_steer_vel: -0.3
+ max_steer_acc: 1.0
+ axis_distance: 0.3662
+ wheel_distance: 0.216
+ wheel_radius: 0.05
+
+ split_ignore_length: 0.1
+
+ cmd_vel_avg: 1
+ odom_avg: 1
+
+ planner_patience: 5
+
+ hdiff_scale: 0.5
+ heading_points: 8