\subsubsection parameters ROS parameters

Reads and maintains the following parameters on the ROS server

- \b "~camera_angle" : \b [double] The angle corresponding to the image width min: 50.0, default: 80.0, max: 180.0
- \b "~target_width" : \b [double] the real target width (m) min: 0.01, default: 1.0, max: 1.5
- \b "~target_depth" : \b [double] the real target depth (m) min: 0.01, default: 0.2, max: 0.5
- \b "~distance_to_target" : \b [double] The required distance to the target (m) min: 1.0, default: 2.0, max: 5.0
- \b "~max_speed" : \b [double] the maximal linear speed min: 0.01, default: 0.3, max: 1.0
- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.01, max: 1.0
- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.01, max: 1.0
- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.01, max: 1.0
- \b "~control_linear_x" : \b [bool] Control distance to target min: False, default: True, max: True
- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.01, max: 1.0
- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.01, max: 1.0
- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.01, max: 1.0
- \b "~control_linear_y" : \b [bool] Controls the facing to target min: False, default: True, max: True
- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 10.0
- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 10.0
- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 10.0
- \b "~control_linear_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 1.0
- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 1.0
- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 1.0
- \b "~control_angular_z" : \b [bool] Controls the facing to target min: False, default: True, max: True

