Publisher

Parameters

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

<dwb plugin>.publish_evaluation:
 
Type Default
bool true
Description

Whether to publish the local plan evaluation.

<dwb plugin>.publish_global_plan:
 
Type Default
bool true
Description

Whether to publish the global plan.

<dwb plugin>.publish_transformed_plan:
 
Type Default
bool true
Description

Whether to publish the global plan in the odometry frame.

<dwb plugin>.publish_local_plan:
 
Type Default
bool true
Description

Whether to publish the local planner’s plan.

<dwb plugin>.publish_trajectories:
 
Type Default
bool true
Description

Whether to publish debug trajectories.

<dwb plugin>.publish_cost_grid_pc:
 
Type Default
bool false
Description

Whether to publish the cost grid.

<dwb plugin>.marker_lifetime:
 
Type Default
double 0.1
Description

How long for the marker to remain.