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:
 
Type Default
bool false
Description

Whether to allow for scores to be summed up.

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

Weighed scale for critic.