ObstacleFootprintCritic¶
Scores a trajectory based on verifying all points along the robot’s footprint don’t touch an obstacle marked in the costmap.
Parameters¶
<dwb plugin>
: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<name>
: ObstacleFootprintCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.
<dwb plugin> .<name> .sum_scores: | |||||
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<dwb plugin> .<name> .scale: | |||||
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