GoalAlignCritic

Scores a trajectory based on how well aligned the trajectory is with the goal pose.

Parameters

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

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

<dwb plugin>.<name>.forward_point_distance:
 
Type Default
double 0.325
Description

Point in front of robot to look ahead to compute angular change from.

<dwb plugin>.<name>.aggregation_type:
 
Type Default
string “last”
Description

last, sum, or product combination methods.

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

Weighed scale for critic.