DWB Controller

Parameters

<dwb plugin>: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.

<dwb plugin>.critics

Type

Default

vector<string>

N/A

Description

List of critic plugins to use.

<dwb plugin>.default_critic_namespaces

Type

Default

vector<string>

[“dwb_critics”]

Description

Namespaces to load critics in.

<dwb plugin>.prune_plan

Type

Default

bool

true

Description

Whether to prune the path of old, passed points.

<dwb plugin>.shorten_transformed_plan

Type

Default

bool

true

Description

Determines whether we will pass the full plan on to the critics.

<dwb plugin>.prune_distance

Type

Default

double

2.0

Description

Distance (m) to prune backward until.

<dwb plugin>.debug_trajectory_details

Type

Default

bool

false

Description

Publish debug information (on what topic???).

<dwb plugin>.trajectory_generator_name

Type

Default

string

“dwb_plugins::StandardTrajectoryGenerator”

Description

Trajectory generator plugin name.

<dwb plugin>.goal_checker_name

Type

Default

string

“dwb_plugins::SimpleGoalChecker”

Description

Goal checker plugin name.

<dwb plugin>.transform_tolerance

Type

Default

double

0.1

Description

TF transform tolerance (s).

<dwb plugin>.short_circuit_trajectory_evaluation

Type

Default

bool

true

Description

Stop evaluating scores after best score is found.

<dwb plugin>.path_distance_bias (Legacy)

Type

Default

double

N/A

Description

Old version of PathAlign.scale, use that instead.

<dwb plugin>.goal_distance_bias (Legacy)

Type

Default

double

N/A

Description

Old version of GoalAlign.scale, use that instead.

<dwb plugin>.occdist_scale (Legacy)

Type

Default

double

N/A

Description

Old version of ObstacleFootprint.scale, use that instead.

<dwb plugin>.max_scaling_factor (Legacy)

Type

Default

double

N/A

Description

Old version of ObstacleFootprint.max_scaling_factor, use that instead.

<dwb plugin>.scaling_speed (Legacy)

Type

Default

double

N/A

Description

Old version of ObstacleFootprint.scaling_speed, use that instead.

<dwb plugin>.PathAlign.scale

Type

Default

double

32.0

Description

Scale for path align critic, overriding local default.

<dwb plugin>.GoalAlign.scale

Type

Default

double

24.0

Description

Scale for goal align critic, overriding local default.

<dwb plugin>.PathDist.scale

Type

Default

double

32.0

Description

Scale for path distance critic, overriding local default.

<dwb plugin>.GoalDist.scale

Type

Default

double

24.0

Description

Scale for goal distance critic, overriding local default.