Scores a trajectory based on where the path passes over the costmap. To use this properly, you must use the inflation layer in costmap to expand obstacles by the robot’s radius.


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

<name>: BaseObstacleCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.

<dwb plugin>.<name>.sum_scores:
Type Default
bool false

Whether to allow for scores to be summed up.

<dwb plugin>.<name>.scale:
Type Default
double 1.0

Weighed scale for critic.