velocity_smoother = Node(
        package='nav2_velocity_smoother',
        name='root_velocity_smoother',
        executable='velocity_smoother',
        parameters=[
            # {'use_sim_time': use_sim_time},
            {'smoothing_frequency': 20.0},
            {'scale_velocities': False},
            {'feedback': 'OPEN_LOOP'},
            {'max_velocity': [0.5, 0.0, 0.8]},
            {'min_velocity': [-0.5, 0.0, -0.8]},
            {'velocity_timeout': 0.5},
            {'max_accel': [0.1, 0.0, 0.2]},
            {'max_decel': [-0.5, 0.0, -1.2]},
            ],
        remappings=[
            ('cmd_vel', 'cmd_vel_protected'),
            ('cmd_vel_smoothed', 'cmd_vel')],
        output='screen')