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>.prune_distance:
 
Type Default
double 1.0
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.