StandardTrajectoryGenerator

Parameters

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

<dwb plugin>.sim_time:
 
Type Default
double 1.7
Description

Time to simulate ahead by (s).

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

If true, forward simulate by time. If False, forward simulate by linear and angular granularity.

<dwb plugin>.time_granularity:
 
Type Default
double 0.5
Description

Time ahead to project.

<dwb plugin>.linear_granularity:
 
Type Default
double 0.5
Description

Linear distance forward to project.

<dwb plugin>.angular_granularity:
 
Type Default
double 0.025
Description

Angular distance to project.

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

Whether to include the last pose in the trajectory.