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minimum_angle_in_triangle

Usage: <navigation_mesh method="triangulation"
minimum_distance_between_edges="0.5" minimum_angle_in_triangles="0"
use_for_local_planning="true" />

Better navigation by reducing the number of triangles generated during the triangulation, specially the skinny one.

router, final_goal, intermediate_goal

Use as follow:
 <trajectories format="xml-plain" fps="8" color_mode="group">

The color is automatically assigned. You cannot choose it.

sources.

serveice after each simulation step