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>.forward_prune_distance

Type	Default
double	2.0

Description: Distance (m) to prune forward until. If set to -1, it will search the full path for the closest point, in the case of no replanning.

<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.