Kinematic Parameters

Parameters

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

<dwb plugin>.max_vel_theta:  

Type	Default
double	0.0

Description

Maximum angular velocity (rad/s).

<dwb plugin>.min_speed_xy:  

Type	Default
double	0.0

Description

Minimum translational speed (m/s).

<dwb plugin>.max_speed_xy:  

Type	Default
double	0.0

Description

Maximum translational speed (m/s).

<dwb plugin>.min_speed_theta:  

Type	Default
double	0.0

Description

Minimum angular speed (rad/s).

<dwb plugin>.min_vel_x:  

Type	Default
double	0.0

Description

Minimum velocity X (m/s).

<dwb plugin>.min_vel_y:  

Type	Default
double	0.0

Description

Minimum velocity Y (m/s).

<dwb plugin>.max_vel_x:  

Type	Default
double	0.0

Description

Maximum velocity X (m/s).

<dwb plugin>.max_vel_y:  

Type	Default
double	0.0

Description

Maximum velocity Y (m/s).

<dwb plugin>.acc_lim_x:  

Type	Default
double	0.0

Description

Maximum acceleration X (m/s^2).

<dwb plugin>.acc_lim_y:  

Type	Default
double	0.0

Description

Maximum acceleration Y (m/s^2).

<dwb plugin>.acc_lim_theta:  

Type	Default
double	0.0

Description

Maximum acceleration rotation (rad/s^2).

<dwb plugin>.decel_lim_x:  

Type	Default
double	0.0

Description

Maximum deceleration X (m/s^2).

<dwb plugin>.decel_lim_y:  

Type	Default
double	0.0

Description

Maximum deceleration Y (m/s^2).

<dwb plugin>.decel_lim_theta:  

Type	Default
double	0.0

Description

Maximum deceleration rotation (rad/s^2).