OscillationCritic

Prevents the robot from just moving backwards and forwards.

Parameters

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

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

<dwb plugin>.<name>.oscillation_reset_dist:
 
Type Default
double 0.05
Description

Minimum distance to move to reset oscillation watchdog (m).

<dwb plugin>.<name>.oscillation_reset_angle:
 
Type Default
double 0.2
Description

Minimum angular distance to move to reset watchdog (rad).

<dwb plugin>.<name>.oscillation_reset_time:
 
Type Default
double -1
Description

Duration when a reset may be called. If -1, cannot be reset..

<dwb plugin>.<name>.x_only_threshold:
 
Type Default
double 0.05
Description

Threshold to check in the X velocity direction.

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

Weighed scale for critic.